Merge branch 'meier/sequenceCount' into meier/develop

2022-05-11 16:54:06 +02:00
1091 changed files with 16313 additions and 27017 deletions
--- a/.gitignore
+++ b/.gitignore
@ -1,14 +1,6 @@
-# PyCharm and CLion
-.idea/*
-!/.idea/runConfigurations
-!/.idea/cmake.xml
-!/.idea/codeStyles
-
-# Eclipse
 .cproject
 .project
 .settings
 .metadata

 /build*
-/cmake-build*
--- a/.idea/cmake.xml
+++ b/.idea/cmake.xml
@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="CMakeSharedSettings">
-    <configurations>
-      <configuration PROFILE_NAME="Debug Test" ENABLED="true" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON" NO_GENERATOR="true" />
-    </configurations>
-  </component>
-</project>
--- a/.idea/codeStyles/Project.xml
+++ b/.idea/codeStyles/Project.xml
@ -1,14 +0,0 @@
-<component name="ProjectCodeStyleConfiguration">
-  <code_scheme name="Project" version="173">
-    <clangFormatSettings>
-      <option name="ENABLED" value="true" />
-    </clangFormatSettings>
-    <codeStyleSettings language="CMake">
-      <indentOptions>
-        <option name="INDENT_SIZE" value="2" />
-        <option name="CONTINUATION_INDENT_SIZE" value="0" />
-        <option name="TAB_SIZE" value="2" />
-      </indentOptions>
-    </codeStyleSettings>
-  </code_scheme>
-</component>
--- a/.idea/codeStyles/codeStyleConfig.xml
+++ b/.idea/codeStyles/codeStyleConfig.xml
@ -1,5 +0,0 @@
-<component name="ProjectCodeStyleConfiguration">
-  <state>
-    <option name="USE_PER_PROJECT_SETTINGS" value="true" />
-  </state>
-</component>
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -8,267 +8,25 @@ and this project adheres to [Semantic Versioning](http://semver.org/).

 # [unreleased]

-## Fixes
-
- The `PusTmCreator` API only accepted 255 bytes of source data. It can now accept source
-  data with a size limited only by the size of `size_t`.
- Important bugfix in CFDP PDU header format: The entity length field and the transaction sequence
-  number fields stored the actual length of the field instead of the length minus 1 like specified
-  in the CFDP standard.
- PUS Health Service: Size check for set health command.
-  Perform operation completion for announce health command.
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/746
- Linux OSAL `getUptime` fix: Check validity of `/proc/uptime` file before reading uptime.
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/745
- Small tweak for version getter
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/744
-
-## Added
-
- add CFDP subsystem ID
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/742
- `PusTmZcWriter` now exposes API to set message counter field.
- Relative timeshift in the PUS time service.
-
-## Changed
-
- The PUS time service now dumps the time before setting a new time and after having set the
-  time.
- HK generation is now countdown based.
- Bump ETL version to 20.35.14
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/748
- Renamed `PCDU_2` subsystem ID to `POWER_SWITCH_IF`.
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/743
- Add new `PowerSwitchIF::SWITCH_UNKNOWN` returnvalue.
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/743
- Assert that `FixedArrayList` is larger than 0 at compile time.
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/740
- Health functions are virtual now.
- PUS Service Base request queue depth and maximum number of handled packets per cycle is now
-  configurable.
-
-# [v6.0.0] 2023-02-10
-
-## Fixes
-
- Mode Service: Add allowed subservice
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/739
- `CService200ModeManagement`: Various bugfixes which lead to now execution complete being generated
-  on mode announcements, duplicate mode reply generated on announce commands, and the mode read
-  subservice not working properly.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/736
- Memory leak fixes for the TCP/IP TMTC bridge.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/737
- `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval
-  seconds instead of uptime.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726
- HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously,
-  only the X scaling factor was used.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/724
- HAL MGM3100 Handler: Z value was previously calculated with bytes of the X value.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/733
- DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity
-  to false correctly because the `read` and `write` calls were missing.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/728
- PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead
-  of the correct unsegmented flags (0b11) as specified in the standard.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/727
- TC Scheduler Service 11: Add size and CRC check for contained TC.
-  Bug: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/719
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/720
- Only delete health table entry in `HealthHelper` destructor if
-  health table was set.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710
- I2C Bugfixes: Do not keep iterator as member and fix some incorrect handling with the iterator.
-  Also properly reset the reply size for successfull transfers and erroneous transfers.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/700
- Bugfix for Serial Buffer Stream: Setting `doActive` to false now
-  actually fully disables printing.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/680
- `TcpTmTcServer.cpp`: The server was actually not able to handle
-  CCSDS packets which were clumped together. This has been fixed now.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/673
- `CServiceHealthCommanding`: Add announce all health info implementation
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
- various fixes related to linux Unittests and memory leaks
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/715
- small fix to allow teardown handling
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/713
- fix compiler warning for fixed array list copy ctor
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/704
- missing include
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/703
- defaultconfig did not build anymore
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/702
- hotfix
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/699
- small fix for helper
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/698
- missing retval conv
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/697
- DHB Countdown Bug
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/693
- doc corrections
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/687
- better error printout
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/686
- include correction
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/683
- better warning for missing include paths
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/676
- Service 11 regression
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/670
-
-## Added
-
- `CServiceHealthCommanding`: Add announce all health info implementation
-  PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122
- Empty constructor for `CdsShortTimeStamper` which does not do an object manager registration.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/730
- `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice.
- `TcpTmTcServer`: Allow setting the `SO_REUSEADDR` and `SO_REUSEPORT`
-  option on the TCP server. CTOR prototype has changed and expects an explicit
-  TCP configuration struct to be passed.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/722
- `DleParser` helper class to parse DLE encoded packets from a byte stream.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/711
- `UioMapper` is able to resolve symlinks now.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/709
- Add new `UnsignedByteField` class
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/660
- publish documentation for development and master branch
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/681
- Add Linux HAL options
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/663
- Expand SerializeIF
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/656
- PUS Service 11: Additional Safety Check
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/666
- improvements for auto-formatter script
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/665
- provide a weak print char impl
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/674
-
-## Removed
-
- now that doc server is up, remove markdown files
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/688
- remove bsp specific code
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/679
+# [v5.0.0]

 ## Changes

- `CService201HealthCommanding` renamed to `CServiceHealthCommanding`,
-  service ID customizable now. `CServiceHealthCommanding` expects configuration struct
-  `HealthServiceCfg` now
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
- `AcceptsTelemetryIF`: `getReportReceptionQueue` is const now
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/712
- Moved some container returnvalues to dedicated header and namespace
-  so they can be used without template specification.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/707
- Remove default secondary header argument for
-  `uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)` and
-  `uint16_t getTmSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)`
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/689
- Removed `HasReturnvaluesIF` class in favor of `returnvalue` namespace with `OK` and `FAILED`
-  constants.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/659
- Overhaul of the TMTC stack, including various changes and improvements
-  for other modules
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/655
-  which also includes a migration guide
- Bump Catch2 dependency to regular version `v3.1.0`
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/678
- `SerialBufferAdapter`: Rename `setBuffer` to `setConstBuffer` and update
-  API to expect `const uint8_t*` accordingly.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/677
- Remove the following user includes from `fsfw/events/Event.h` and
-  `fsfw/returnvalues/returnvalue.h`:
-  - `#include "events/subsystemIdRanges.h"`
-  - `#include "returnvalues/classIds.h"`
-  The user has to include those themselves now
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/675
- `DeviceHandlerBase`: Set command sender before calling `buildCommandFromCommand`.
-  This allows finishing action commands immediately inside the function.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/672
- `DeviceHandlerBase`: New signature of `handleDeviceTm` which expects
-  a `const SerializeIF&` and additional helper variant which expects `const uint8_t*`
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/671
- Improvements for `AcceptsTelemetryIF` and `AcceptsTelecommandsIF`:
-  - Make functions `const` where it makes sense
-  - Add `const char* getName const` abstract function
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/684
- Generic TMTC Bridge Update
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/734
- comment tweak to event parser can read everything
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/732
- CMakeLists file updates
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/731
- improve srv20 error messages
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/723
- I2C Linux: remove duplicate printout
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/718
- printout handling improvements
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/717
- vec getter, reset for content
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/716
- updates for source sequence counter
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/714
- SP reader getPacketData is const now
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/708
- refactoring of serial drivers for linux
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/705
- Local Pool Update Remove Add Data Ignore Fault Argument
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/701
- Switch to new documentation server
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/694
- Windows Tweaks
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/691
- Refactor Local Pool API
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/667
- group MGM data in local pool vectors
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/664
-
-
-## CFDP
-
- Refactoring of CFDP stack which was done during implementation of the CFDP source and destination
-  handlers.
-   - New filesystem module, changes for filesystem abstraction `HasFileSystemIF` to better
-     fit requirements of CFDP
-   - New `HostFilesystem` implementation of the `HasFileSystemIF`
-   - New `cfdp::UserBase` class which is the abstraction for the CFDP user in an OBSW context.
-   - mib module for the CFDP stack
-   - PDU classes renamed from `...Serializer`/`...Deserializer` to `...Creator`/`...Reader`
-     respetively
-   - Renamed `TcDistributor` to `TcDistributorBase` to prevent confusion
-   - Refactored `TcDisitributorBase` to be more flexible and usable for CFDP distribution
-   - Renamed `CCSDSDistributor` to `CcsdsDistributor` and add feature which allows it
-     to remove the CCSDS header when routing a packet. This allows CCSDS agnostic receiver
-     implementation without an extra component
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/682
-
-# [v5.0.0] 2022-07-25
-
-## Changes
-
- Renamed auto-formatting script to `auto-formatter.sh` and made it more robust.
-  If `cmake-format` is installed, it will also auto-format the `CMakeLists.txt` files now.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/626
- Bump C++ required version to C++17. Every project which uses the FSFW and every modern
-  compiler supports it
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
+- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
+  and mode
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
+- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
+  name clashes with Windows defines.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Devicehandlers: Periodic printout is run-time configurable now
 - `oneShotAction` flag in the `TestTask` class is not static anymore
- `SimpleRingBuffer::writeData` now checks if the amount is larger than the total size of the 
-  Buffer and rejects such writeData calls with `returnvalue::FAILED`
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/586
+- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
 - Major update for version handling, using `git describe` to fetch version information with git.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
+  - Place `Version` class outside of `fsfw` namespace. It is generic
  - Add helper functions provided by [`cmake-modules`](https://github.com/bilke/cmake-modules)
    manually now. Those should not change too often and only a small subset is needed
  - Separate folder for easier update and for distinction
@ -284,74 +42,12 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
  creation call. It allows passing context information and an arbitrary user argument into
  the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
- Internal API change: Moved the `fsfw_hal` to the `src` folder and integration and internal
-  tests part of `fsfw_tests` to `src`. Unittests are now in a dedicated folder called `unittests`
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/653
-
-### Task Module Refactoring
-
-PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/636
-
-**Refactoring general task code**
-
- There was a lot of duplicate/boilerplate code inside the individual task IF OSAL implementations.
-  Remove it by introducing base classes `PeriodicTaskBase` and `FixedTimeslotTaskBase`.
-
-**Refactor PeriodicTaskIF**
-
- Convert `virtual ReturnValue_t addComponent(object_id_t object)` to
-  `virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0)`, allowing to pass
-  the operation code passed to `performOperation`. Updated API taking
-  an `ExecutableObjectIF` accordingly
-
-**Refactor FixedTimeslotTaskIF**
-
- Add additional `addSlot` function which takes an `ExecutableObjectIF` pointer and its Object ID
-
-**Refactor FixedSequenceSlot**
-
- Introduce typedef `CustomCheckFunc` for `ReturnValue_t (*customCheckFunction)(const SlotList&)`.
- Convert `ReturnValue_t (*customCheckFunction)(const SlotList&)` to
-  `ReturnValue_t (*customCheckFunction)(const SlotList&, void*)`, allowing arbitrary user arguments
-  for the custom checker
-
-**Linux Task Module**
-
- Use composition instead of inheritance for the `PeriodicPosixTask` and make the `PosixTask` a
-  member of the class
-
-### HAL
-
- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
-  and mode
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
-  name clashes with Windows defines.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
-
-### Time
-
-PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/584 and
-https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
-
- `timeval` to `TimeOfDay_t`
- Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
- Moved the statics used by Clock in ClockCommon.cpp to this file
- Better check for leap seconds
- Added Unittests for Clock (only getter)
-
-### Power 
-
- `PowerSwitchIF`: Remove `const` specifier from `sendSwitchCommand` and `sendFuseOnCommand` and
-  also specify a `ReturnValue_t` return type
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
- Extend `PowerSwitcher` module to optionally check current state when calling `turnOn` or
-  `turnOff`. Tis can be helpful to avoid commanding switches which do not need commanding
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+- Clock: 
+  - `timeval` to `TimeOfDay_t`
+  - Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
+  - Moved the statics used by Clock in ClockCommon.cpp to this file
+  - Better check for leap seconds
+  - Added Unittests for Clock (only getter)

 ## Removed

@ -361,52 +57,15 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593

 ## Additions

- New constructor for PoolEntry which allows to simply specify the length of the pool entry.
-  This is also the new default constructor for scalar value with 0 as an initial value
- Added options for CI/CD builds: `FSFW_CICD_BUILD`. This allows the source code to know
-  whether it is running in CI/CD
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/623
- Basic `clion` support: Update `.gitignore` and add some basic run configurations
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
- LTO support: Allow using LTO/IPO by setting `FSFW_ENABLE_LTO=1`. CMake is able to detect whether
-  the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it,
-  can make good use of it and it usually makes the code faster and/or smaller.
-  After some more research:
-  Enabling LTO will actually cause the compiler to only produce thin LTO by adding 
-  `-flto -fno-fat-lto-objects` to the compiler options. I am not sure this is an ideal choice
-  because if an application linking against the FSFW does not use LTO, there can be compile
-  issues (e.g. observed when compiling the FSFW tests without LTO). This is a known issue as
-  can be seen in the multiple CMake issues for it: 
-    - https://gitlab.kitware.com/cmake/cmake/-/issues/22913, 
-    - https://gitlab.kitware.com/cmake/cmake/-/issues/16808, 
-    - https://gitlab.kitware.com/cmake/cmake/-/issues/21696
-  Easiest solution for now: Keep this option OFF by default.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
 - Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
 - Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
  inside `fsfw/version.h`
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
- Added generic PUS TC Scheduler Service 11. It depends on the new added Emebeded Template Library
-  (ETL) dependency.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/594
 - Added ETL dependency and improved library dependency management
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
- Add a `DummyPowerSwitcher` module which can be useful for test setups when no PCDU is available
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
- New typedef for switcher type
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
- `Subsystem`: New API to add table and sequence entries

 ## Fixed

- TCP TMTC Server: `MutexGuard` was not created properly in
-  `TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)` call.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/618
- Fix infinite recursion in `prepareHealthSetReply` of PUS Health Service 201.
-  Is not currently used right now but might be used in the future
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/617
- Move some CMake directives further up top so they are not ignored
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/621
 - Small bugfix in STM32 HAL for SPI
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/599
 - HAL GPIO: Improved error checking in `LinuxLibgpioIF::configureGpios(...)`. If a GPIO
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -1,22 +1,69 @@
 cmake_minimum_required(VERSION 3.13)
+project(${LIB_FSFW_NAME})

-set(MSG_PREFIX "fsfw |")
-
-# Add the cmake folder so the FindSphinx module is found
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
-list(APPEND CMAKE_MODULE_PATH
-     "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/bilke")
-list(APPEND CMAKE_MODULE_PATH
-     "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/rpavlik")
-
-# ##############################################################################
-# Version file handling  #
-# ##############################################################################
-
-set(FSFW_VERSION_IF_GIT_FAILS 6)
+set(FSFW_VERSION_IF_GIT_FAILS 4)
 set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
 set(FSFW_REVISION_IF_GIT_FAILS 0)

+# Add the cmake folder so the FindSphinx module is found
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" )
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules")
+set(MSG_PREFIX "fsfw |")
+
+set(FSFW_ETL_LIB_MAJOR_VERSION 20 CACHE STRING
+    "ETL library major version requirement"
+)
+set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3 CACHE STRING
+    "ETL library exact version requirement"
+)
+set(FSFW_ETL_LINK_TARGET etl::etl)
+
+set(FSFW_CATCH2_LIB_MAJOR_VERSION 3 CACHE STRING
+    "Catch2 library major version requirement"
+)
+set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5 CACHE STRING
+    "Catch2 library exact version requirement"
+)
+
+set(FSFW_ETL_LIB_NAME etl)
+
+option(FSFW_GENERATE_SECTIONS
+    "Generate function and data sections. Required to remove unused code" ON
+)
+if(FSFW_GENERATE_SECTIONS)
+    option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
+endif()
+
+option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF)
+option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
+if(FSFW_BUILD_UNITTESTS)
+    option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
+endif()
+
+option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
+# Options to exclude parts of the FSFW from compilation.
+option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON)
+option(FSFW_ADD_UNITTESTS "Add regular unittests. Requires Catch2" OFF)
+option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON)
+
+# Optional sources
+option(FSFW_ADD_PUS "Compile with PUS sources" ON)
+option(FSFW_ADD_MONITORING "Compile with monitoring components" ON)
+
+option(FSFW_ADD_RMAP "Compile with RMAP" OFF)
+option(FSFW_ADD_DATALINKLAYER "Compile with Data Link Layer" OFF)
+option(FSFW_ADD_COORDINATES "Compile with coordinate components" OFF)
+option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
+
+# Contrib sources
+option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
+
+set(LIB_FSFW_NAME fsfw)
+set(FSFW_TEST_TGT fsfw-tests)
+set(FSFW_DUMMY_TGT fsfw-dummy)
+
+add_library(${LIB_FSFW_NAME})
+
 set(FSFW_GIT_VER_HANDLING_OK FALSE)
 # Version handling
 if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
@ -24,13 +71,11 @@ if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
    include(FsfwHelpers)
    determine_version_with_git("--exclude" "docker_*")
    if(GIT_INFO)
-    set(FSFW_GIT_INFO
-        ${GIT_INFO}
-        CACHE STRING "Version information retrieved with git describe")
+        set(FSFW_GIT_INFO ${GIT_INFO} CACHE STRING "Version information retrieved with git describe")
        list(GET FSFW_GIT_INFO 1 FSFW_VERSION)
        list(GET FSFW_GIT_INFO 2 FSFW_SUBVERSION)
        list(GET FSFW_GIT_INFO 3 FSFW_REVISION)
-    list(GET FSFW_GIT_INFO 4 FSFW_VCS_INFO)
+        list(GET FSFW_GIT_INFO 4 FSFW_VERSION_CST_GIT_SHA1)
        if(NOT FSFW_VERSION)
            set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
        endif()
@ -51,165 +96,57 @@ if(NOT FSFW_GIT_VER_HANDLING_OK)
    set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
 endif()

-set(LIB_FSFW_NAME fsfw)
-project(${LIB_FSFW_NAME}
-        VERSION ${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION})
-
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-  set(CMAKE_CXX_STANDARD_REQUIRED True)
-elseif(${CMAKE_CXX_STANDARD} LESS 17)
-  message(
-    FATAL_ERROR
-      "${MSG_PREFIX} Compiling the FSFW requires a minimum of C++17 support")
-endif()
-
-set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")
-
-set(FSFW_ETL_LIB_NAME etl)
-set(FSFW_ETL_LINK_TARGET etl::etl)
-set(FSFW_ETL_LIB_MAJOR_VERSION
-    20
-    CACHE STRING "ETL library major version requirement")
-set(FSFW_ETL_LIB_VERSION
-    ${FSFW_ETL_LIB_MAJOR_VERSION}.35.14
-    CACHE STRING "ETL library exact version requirement")
-set(FSFW_ETL_LINK_TARGET etl::etl)
-
-set(FSFW_CATCH2_LIB_MAJOR_VERSION
-    3
-    CACHE STRING "Catch2 library major version requirement")
-set(FSFW_CATCH2_LIB_VERSION
-    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.1.0
-    CACHE STRING "Catch2 library exact version requirement")
-
-# Keep this off by default for now. See PR:
-# https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616 for information which
-# keeping this on by default is problematic
-option(
-  FSFW_ENABLE_IPO
-  "Enable interprocedural optimization or link-time optimization if available"
-  OFF)
-if(FSFW_ENABLE_IPO)
-  include(CheckIPOSupported)
-  check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR)
-  if(NOT IPO_SUPPORTED)
-    message(STATUS "FSFW | IPO/LTO not supported: ${IPO_ERROR}")
-  endif()
-endif()
-
-option(FSFW_GENERATE_SECTIONS
-       "Generate function and data sections. Required to remove unused code" ON)
-if(FSFW_GENERATE_SECTIONS)
-  option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
-endif()
-
-option(FSFW_BUILD_TESTS
-       "Build unittest binary in addition to static library. Requires Catch2"
-       OFF)
-option(FSFW_CICD_BUILD "Build for CI/CD. This can disable problematic test" OFF)
-option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
-if(FSFW_BUILD_TESTS)
-  option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
-endif()
-
-option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
-# Options to exclude parts of the FSFW from compilation.
-option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON)
-option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON)
-
-if(UNIX)
-  option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers"
-         OFF)
-  option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Attempt to add Linux GPIOD drivers" OFF)
-  option(FSFW_HAL_LINUX_ADD_SERIAL_DRIVERS "Add serial drivers" ON)
-endif()
-
-# Optional sources
-option(FSFW_ADD_PUS "Compile with PUS sources" ON)
-option(FSFW_ADD_MONITORING "Compile with monitoring components" ON)
-
-option(FSFW_ADD_RMAP "Compile with RMAP" OFF)
-option(FSFW_ADD_DATALINKLAYER "Compile with Data Link Layer" OFF)
-option(FSFW_ADD_COORDINATES "Compile with coordinate components" OFF)
-option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
-
-# Contrib sources
-option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
-
-set(FSFW_TEST_TGT fsfw-tests)
-set(FSFW_DUMMY_TGT fsfw-dummy)
-
-add_library(${LIB_FSFW_NAME})
-
-if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
-  set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION
-                                                TRUE)
-endif()
-
-if(FSFW_BUILD_TESTS)
-  message(
-    STATUS
-      "${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
-  )
+if(FSFW_BUILD_UNITTESTS)
+    message(STATUS "${MSG_PREFIX} Building the FSFW unittests in addition to the static library")
    # Check whether the user has already installed Catch2 first
-  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} QUIET)
+    find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} CONFIG QUIET)
    # Not installed, so use FetchContent to download and provide Catch2
    if(NOT Catch2_FOUND)
-    message(
-      STATUS
-        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent."
-    )
+        message(STATUS "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent")
        include(FetchContent)

        FetchContent_Declare(
            Catch2
            GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-      GIT_TAG ${FSFW_CATCH2_LIB_VERSION})
+            GIT_TAG        ${FSFW_CATCH2_LIB_VERSION}
+        )

        list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
    endif()

-  set(FSFW_CONFIG_PATH unittests/testcfg)
-  configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
-  configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
+    set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
+    configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
+    configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in tests/TestsConfig.h)

    project(${FSFW_TEST_TGT} CXX C)
    add_executable(${FSFW_TEST_TGT})
-  if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
-    set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION
-                                                  TRUE)
-  endif()

    if(FSFW_TESTS_GEN_COV)
        message(STATUS "${MSG_PREFIX} Generating coverage data for the library")
        message(STATUS "${MSG_PREFIX} Targets linking against ${LIB_FSFW_NAME} "
-                   "will be compiled with coverage data as well")
+            "will be compiled with coverage data as well"
+        )
        set(CMAKE_BUILD_TYPE "Debug")
        include(CodeCoverage)
    endif()
 endif()

-message(
-  STATUS
-    "${MSG_PREFIX} Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}"
-)
+message(STATUS "Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}")

 # Check whether the user has already installed ETL first
-find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
+find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
 # Not installed, so use FetchContent to download and provide etl
 if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
-  message(
-    STATUS
-      "${MSG_PREFIX} ETL installation not found. Downloading ETL with FetchContent."
+    message(STATUS
+        "No ETL installation was found with find_package. Installing and providing "
+        "etl with FindPackage"
    )
    include(FetchContent)
-
    FetchContent_Declare(
        ${FSFW_ETL_LIB_NAME}
        GIT_REPOSITORY https://github.com/ETLCPP/etl
-    GIT_TAG ${FSFW_ETL_LIB_VERSION})
-
+        GIT_TAG        ${FSFW_ETL_LIB_VERSION}
+    )
    list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
 endif()

@ -222,8 +159,8 @@ if(FSFW_FETCH_CONTENT_TARGETS)
        add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
    endif()
    if(TARGET Catch2)
-    # Fixes regression -preview4, to be confirmed in later releases Related
-    # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
+        # Fixes regression -preview4, to be confirmed in later releases
+        # Related GitHub issue: https://github.com/catchorg/Catch2/issues/2417
        set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
    endif()
 endif()
@ -233,30 +170,40 @@ set(FSFW_CORE_INC_PATH "inc")
 set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)

 # For configure files
-target_include_directories(${LIB_FSFW_NAME} PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
-target_include_directories(${LIB_FSFW_NAME}
-                           INTERFACE ${CMAKE_CURRENT_BINARY_DIR})
+target_include_directories(${LIB_FSFW_NAME} PRIVATE
+    ${CMAKE_CURRENT_BINARY_DIR}
+)
+target_include_directories(${LIB_FSFW_NAME} INTERFACE
+    ${CMAKE_CURRENT_BINARY_DIR}
+)
+
+if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 11)
+    set(CMAKE_CXX_STANDARD_REQUIRED True)
+elseif(${CMAKE_CXX_STANDARD} LESS 11)
+    message(FATAL_ERROR "${MSG_PREFIX} Compiling the FSFW requires a minimum of C++11 support")
+endif()

 # Backwards comptability
 if(OS_FSFW AND NOT FSFW_OSAL)
-  message(
-    WARNING
-      "${MSG_PREFIX} Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
+    message(WARNING "${MSG_PREFIX} Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
    set(FSFW_OSAL OS_FSFW)
 endif()

 if(NOT FSFW_OSAL)
-  message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS")
+	message(STATUS "${MSG_PREFIX} No OS for FSFW via FSFW_OSAL set. Assuming host OS")
 	# Assume host OS and autodetermine from OS_FSFW
 	if(UNIX)
-    set(FSFW_OSAL
-        "linux"
-        CACHE STRING "OS abstraction layer used in the FSFW")
+		set(FSFW_OSAL  "linux" 
+			CACHE STRING 
+			"OS abstraction layer used in the FSFW"
+		)
 	elseif(WIN32)
-    set(FSFW_OSAL
-        "host"
-        CACHE STRING "OS abstraction layer used in the FSFW")
+		set(FSFW_OSAL  "host" 
+			CACHE STRING "OS abstraction layer used in the FSFW"
+		)
 	endif()
+
 endif()

 set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)
@ -270,13 +217,14 @@ elseif(FSFW_OSAL MATCHES linux)
 elseif(FSFW_OSAL MATCHES freertos)
    set(FSFW_OS_NAME "FreeRTOS")
    set(FSFW_OSAL_FREERTOS ON)
-  target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${LIB_OS_NAME})
+    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+        ${LIB_OS_NAME}
+    )
 elseif(FSFW_OSAL STREQUAL rtems)
    set(FSFW_OS_NAME "RTEMS")
    set(FSFW_OSAL_RTEMS ON)
 else()
-  message(
-    WARNING
+    message(WARNING
        "${MSG_PREFIX} Invalid operating system for FSFW specified! Setting to host.."
    )
    set(FSFW_OS_NAME "Host")
@ -286,114 +234,113 @@ endif()
 configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
 configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)

-message(
-  STATUS "${MSG_PREFIX} Compiling FSFW for the ${FSFW_OS_NAME} operating system"
-)
+message(STATUS "${MSG_PREFIX} Compiling FSFW for the ${FSFW_OS_NAME} operating system")

 add_subdirectory(src)
-add_subdirectory(contrib)
-if(FSFW_BUILD_TESTS)
-  add_subdirectory(unittests)
+add_subdirectory(tests)
+if(FSFW_ADD_HAL)
+    add_subdirectory(hal)
 endif()
+add_subdirectory(contrib)
 if(FSFW_BUILD_DOCS)
    add_subdirectory(docs)
 endif()

-if(FSFW_BUILD_TESTS)
+if(FSFW_BUILD_UNITTESTS)
    if(FSFW_TESTS_GEN_COV)
        if(CMAKE_COMPILER_IS_GNUCXX)
            include(CodeCoverage)

            # Remove quotes.
-      separate_arguments(COVERAGE_COMPILER_FLAGS NATIVE_COMMAND
-                         "${COVERAGE_COMPILER_FLAGS}")
+            separate_arguments(COVERAGE_COMPILER_FLAGS
+                NATIVE_COMMAND "${COVERAGE_COMPILER_FLAGS}"
+            )

            # Add compile options manually, we don't want coverage for Catch2
-      target_compile_options(${FSFW_TEST_TGT}
-                             PRIVATE "${COVERAGE_COMPILER_FLAGS}")
-      target_compile_options(${LIB_FSFW_NAME}
-                             PRIVATE "${COVERAGE_COMPILER_FLAGS}")
+            target_compile_options(${FSFW_TEST_TGT} PRIVATE
+                "${COVERAGE_COMPILER_FLAGS}"
+            )
+            target_compile_options(${LIB_FSFW_NAME} PRIVATE
+                "${COVERAGE_COMPILER_FLAGS}"
+            )

            # Exclude directories here
            if(WIN32)
-        set(GCOVR_ADDITIONAL_ARGS "--exclude-throw-branches"
-                                  "--exclude-unreachable-branches")
-        set(COVERAGE_EXCLUDES "/c/msys64/mingw64/*" "*/fsfw_hal/*")
+                set(GCOVR_ADDITIONAL_ARGS
+                    "--exclude-throw-branches"
+                    "--exclude-unreachable-branches"
+                )
+                set(COVERAGE_EXCLUDES
+                    "/c/msys64/mingw64/*" "*/fsfw_hal/*"
+                )
            elseif(UNIX)
                set(COVERAGE_EXCLUDES
-            "/usr/include/*"
-            "/usr/bin/*"
-            "Catch2/*"
-            "/usr/local/include/*"
-            "*/fsfw_tests/*"
-            "*/catch2-src/*"
-            "*/fsfw_hal/*"
-            "unittests/*")
+                    "/usr/include/*" "/usr/bin/*" "Catch2/*"
+                    "/usr/local/include/*" "*/fsfw_tests/*"
+                    "*/catch2-src/*" "*/fsfw_hal/*"
+                )
            endif()

-      target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
-                          -ftest-coverage)
-      target_link_options(${LIB_FSFW_NAME} PRIVATE -fprofile-arcs
-                          -ftest-coverage)
-      # Need to specify this as an interface, otherwise there will the compile
-      # issues
-      target_link_options(${LIB_FSFW_NAME} INTERFACE -fprofile-arcs
-                          -ftest-coverage)
+            target_link_options(${FSFW_TEST_TGT} PRIVATE
+                -fprofile-arcs
+                -ftest-coverage
+            )
+            target_link_options(${LIB_FSFW_NAME} PRIVATE
+                -fprofile-arcs
+                -ftest-coverage
+            )
+            # Need to specify this as an interface, otherwise there will the compile issues
+            target_link_options(${LIB_FSFW_NAME} INTERFACE
+                -fprofile-arcs
+                -ftest-coverage
+            )

            if(WIN32)
                setup_target_for_coverage_gcovr_html(
-          NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
-          DEPENDENCIES ${FSFW_TEST_TGT})
+                    NAME ${FSFW_TEST_TGT}_coverage
+                    EXECUTABLE ${FSFW_TEST_TGT}
+                    DEPENDENCIES ${FSFW_TEST_TGT}
+                )
            else()
                setup_target_for_coverage_lcov(
-          NAME
-          ${FSFW_TEST_TGT}_coverage
-          EXECUTABLE
-          ${FSFW_TEST_TGT}
-          DEPENDENCIES
-          ${FSFW_TEST_TGT}
-          GENHTML_ARGS
-          --html-epilog
-          ${CMAKE_SOURCE_DIR}/unittests/lcov_epilog.html)
+                    NAME ${FSFW_TEST_TGT}_coverage
+                    EXECUTABLE ${FSFW_TEST_TGT}
+                    DEPENDENCIES ${FSFW_TEST_TGT}
+                )
            endif()
        endif()
    endif()
-  target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2
-                                                 ${LIB_FSFW_NAME})
+    target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2 ${LIB_FSFW_NAME})
 endif()

-# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. If
-# this is not given, we include the default configuration and emit a warning.
+# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
+# If this is not given, we include the default configuration and emit a warning.
 if(NOT FSFW_CONFIG_PATH)
    set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
    if(NOT FSFW_BUILD_DOCS)
-    message(
-      WARNING
-        "${MSG_PREFIX} Flight Software Framework configuration path FSFW_CONFIG_PATH not set"
-    )
-    message(
-      WARNING
-        "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
+        message(WARNING "${MSG_PREFIX} Flight Software Framework configuration path not set")
+        message(WARNING "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
    endif()
    add_subdirectory(${DEF_CONF_PATH})
    set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
 endif()

-# FSFW might be part of a possibly complicated folder structure, so we extract
-# the absolute path of the fsfwconfig folder.
+# FSFW might be part of a possibly complicated folder structure, so we 
+# extract the absolute path of the fsfwconfig folder.
 if(IS_ABSOLUTE ${FSFW_CONFIG_PATH})
 	set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
 else()
-  get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH} REALPATH
-                         BASE_DIR ${CMAKE_SOURCE_DIR})
+	get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE
+		${FSFW_CONFIG_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR}
+	)
 endif()

 foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATHS})
    if(IS_ABSOLUTE ${INCLUDE_PATH})
        set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
    else()
-    get_filename_component(CURR_ABS_INC_PATH ${INCLUDE_PATH} REALPATH BASE_DIR
-                           ${CMAKE_SOURCE_DIR})
+        get_filename_component(CURR_ABS_INC_PATH
+            ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
    endif()

    if(CMAKE_VERBOSE)
@ -426,19 +373,23 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
          -Wcast-qual # Warn if the constness is cast away
          -Wstringop-overflow=4
          # -Wstack-protector # Emits a few false positives for low level access
-        # -Wconversion # Creates many false positives -Warith-conversion # Use
-        # with Wconversion to find more implicit conversions -fanalyzer # Should
-        # be used to look through problems
+          # -Wconversion # Creates many false positives
+          # -Warith-conversion # Use with Wconversion to find more implicit conversions
+          # -fanalyzer # Should be used to look through problems
        )
    endif()

    if(FSFW_GENERATE_SECTIONS)
-    target_compile_options(${LIB_FSFW_NAME} PRIVATE "-ffunction-sections"
-                                                    "-fdata-sections")
+        target_compile_options(${LIB_FSFW_NAME} PRIVATE
+            "-ffunction-sections"
+            "-fdata-sections"
+        )
    endif()

    if(FSFW_REMOVE_UNUSED_CODE)
-    target_link_options(${LIB_FSFW_NAME} PRIVATE "Wl,--gc-sections")
+        target_link_options(${LIB_FSFW_NAME} PRIVATE
+            "Wl,--gc-sections"
+        )
    endif()
  
    if(FSFW_WARNING_SHADOW_LOCAL_GCC)
@ -452,31 +403,42 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
 endif()

 # Required include paths to compile the FSFW
-target_include_directories(
-  ${LIB_FSFW_NAME} INTERFACE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
-                             ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
+target_include_directories(${LIB_FSFW_NAME} INTERFACE 
+	${CMAKE_SOURCE_DIR}
+	${FSFW_CONFIG_PATH_ABSOLUTE}
+	${FSFW_CORE_INC_PATH}
+	${FSFW_ADD_INC_PATHS_ABS}
+)

-# Includes path required to compile FSFW itself as well We assume that the
-# fsfwconfig folder uses include relative to the project root here!
-target_include_directories(
-  ${LIB_FSFW_NAME} PRIVATE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
-                           ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
+# Includes path required to compile FSFW itself as well
+# We assume that the fsfwconfig folder uses include relative to the project
+# root here!
+target_include_directories(${LIB_FSFW_NAME} PRIVATE 
+	${CMAKE_SOURCE_DIR}
+	${FSFW_CONFIG_PATH_ABSOLUTE}
+	${FSFW_CORE_INC_PATH}
+	${FSFW_ADD_INC_PATHS_ABS}
+)

-target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
-                                                ${COMPILER_FLAGS})
+target_compile_options(${LIB_FSFW_NAME} PRIVATE 
+	${FSFW_WARNING_FLAGS}
+	${COMPILER_FLAGS}
+)

-target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ADDITIONAL_LINK_LIBS})
-target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_ETL_LINK_TARGET})
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_ETL_LINK_TARGET}
+    ${FSFW_ADDITIONAL_LINK_LIBS}
+)

-string(
-  CONCAT
-    POST_BUILD_COMMENT
+string(CONCAT POST_BUILD_COMMENT
    "######################################################################\n"
    "Built FSFW v${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION}, "
    "Target OSAL: ${FSFW_OS_NAME}\n"
-    "######################################################################\n")
+    "######################################################################\n"
+)

 add_custom_command(
   TARGET ${LIB_FSFW_NAME}
   POST_BUILD
-  COMMENT ${POST_BUILD_COMMENT})
+   COMMENT ${POST_BUILD_COMMENT}
+)
--- a/FSFWVersion.h.in
+++ b/FSFWVersion.h.in
--- a/README.md
+++ b/README.md
@ -99,7 +99,7 @@ add and link against the FSFW library in general.

 4. Link against the FSFW library

-   ```sh
+   ```cmake
   target_link_libraries(${YourProjectName} PRIVATE fsfw)
   ```

@ -131,15 +131,15 @@ default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF
 You can use the following commands inside the `fsfw` folder to set up the build system

 ```sh
-mkdir build-tests && cd build-tests
-cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
+mkdir build-Unittest && cd build-Unittest
+cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
 ```

 You can also use `-DFSFW_OSAL=linux` on Linux systems.

 Coverage data in HTML format can be generated using the `CodeCoverage`
 [CMake module](https://github.com/bilke/cmake-modules/tree/master).
-To build the unittests, run them and then generate the coverage data in this format,
+To build the unittests, run them and then generare the coverage data in this format,
 the following command can be used inside the build directory after the build system was set up

 ```sh
@ -175,7 +175,7 @@ cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
 Then you can generate the documentation using

 ```sh
-cmake --build . -- Sphinx -j
+cmake --build . -j
 ```

 You can find the generated documentation inside the `docs/sphinx` folder inside the build
@ -188,10 +188,7 @@ and open the documentation conveniently. Try `helper.py -h for more information.

 The formatting is done by the `clang-format` tool. The configuration is contained within the
 `.clang-format` file in the repository root. As long as `clang-format` is installed, you
-can run the `auto-format.sh` helper script to format all source files consistently. Furthermore cmake-format is required to format CMake files which can be installed with:
-````sh
-sudo pip install cmakelang
-````
+can run the `apply-clang-format.sh` helper script to format all source files consistently.

 ## Index

--- a/automation/Dockerfile
+++ b/automation/Dockerfile
@ -5,25 +5,10 @@ RUN apt-get --yes upgrade

 #tzdata is a dependency, won't install otherwise
 ARG DEBIAN_FRONTEND=noninteractive
-RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz rsync
-
-RUN python3 -m pip install sphinx breathe
+RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping

 RUN git clone https://github.com/catchorg/Catch2.git && \
 	cd Catch2 && \
-        git checkout v3.1.0 && \
+	git checkout v3.0.0-preview5 && \
 	cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
 	cmake --build build/ --target install
-
-RUN git clone https://github.com/ETLCPP/etl.git && \
-        cd etl && \
-        git checkout 20.28.0 && \
-        cmake -B build . && \
-        cmake --install build/
-
-#ssh needs a valid user to work
-RUN adduser --uid 114 jenkins
-
-#add documentation server to known hosts
-RUN echo "|1|/LzCV4BuTmTb2wKnD146l9fTKgQ=|NJJtVjvWbtRt8OYqFgcYRnMQyVw= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts
-RUN echo "|1|CcBvBc3EG03G+XM5rqRHs6gK/Gg=|oGeJQ+1I8NGI2THIkJsW92DpTzs= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts
--- a/automation/Jenkinsfile
+++ b/automation/Jenkinsfile
@ -1,125 +1,41 @@
 pipeline {
    environment {
-        BUILDDIR_HOST = 'cmake-build-tests-host'
-        BUILDDIR_LINUX = 'cmake-build-tests-linux'
-        DOCDDIR = 'cmake-build-documentation'
+        BUILDDIR = 'build-tests'
    }
    agent {
-        docker { 
-            image 'fsfw-ci:d6'
-            args '--network host --sysctl fs.mqueue.msg_max=100'
-        }
+        docker { image 'fsfw-ci:d2'}
    }
    stages {
-        stage('Host') {
-            stages{
        stage('Clean') {
            steps {
-                        sh 'rm -rf $BUILDDIR_HOST'
+                sh 'rm -rf $BUILDDIR'
            }
        }
        stage('Configure') {
            steps {
-                        dir(BUILDDIR_HOST) {
-                            sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                dir(BUILDDIR) {
+                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
                }
            }
        }
        stage('Build') {
            steps {
-                        dir(BUILDDIR_HOST) {
+                dir(BUILDDIR) {
                    sh 'cmake --build . -j4'
                }
            }
        }
        stage('Unittests') {
            steps {
-                        dir(BUILDDIR_HOST) {
+                dir(BUILDDIR) {
                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
                }
            }
        }
        stage('Valgrind') {
            steps {
-                        dir(BUILDDIR_HOST) {
-                            sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
-                        }
-                    }
-                }
-            }
-        }
-        stage('Linux') {
-            stages{
-                stage('Clean') {
-                    steps {
-                        sh 'rm -rf $BUILDDIR_LINUX'
-                    }
-                }
-                stage('Configure') {
-                    steps {
-                        dir(BUILDDIR_LINUX) {
-                            sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
-                        }
-                    }
-                }
-                stage('Build') {
-                    steps {
-                        dir(BUILDDIR_LINUX) {
-                            sh 'cmake --build . -j4'
-                        }
-                    }
-                }
-                stage('Unittests') {
-                    steps {
-                        dir(BUILDDIR_LINUX) {
-                            sh 'cmake --build . -- fsfw-tests_coverage -j4'
-                        }
-                    }
-                }
-                stage('Valgrind') {
-                    steps {
-                        dir(BUILDDIR_LINUX) {
-                            sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
-                        }
-                    }
-                }
-            }
-        }
-        stage('Documentation') {
-            when {
-                branch 'development'
-            }
-            steps {
-                dir(DOCDDIR) {
-                    sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
-                    sh 'make Sphinx'
-                    sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/development'
-                    }
-                }
                dir(BUILDDIR) {
-                    sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/development'
-                    }
-                }
-            }
-        }
-        stage('Master Documentation') {
-            when {
-                branch 'master'
-            }
-            steps {
-                dir(DOCDDIR) {
-                    sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
-                    sh 'make Sphinx'
-                    sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/master'
-                    }
-                }
-                dir(BUILDDIR) {
-                    sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/master'
-                    }
+                    sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                }
            }
        }
--- a/cmake/cmake-modules/bilke/CodeCoverage.cmake
+++ b/cmake/cmake-modules/bilke/CodeCoverage.cmake
@ -140,7 +140,7 @@ find_program( GCOV_PATH gcov )
 find_program( LCOV_PATH  NAMES lcov lcov.bat lcov.exe lcov.perl)
 find_program( FASTCOV_PATH NAMES fastcov fastcov.py )
 find_program( GENHTML_PATH NAMES genhtml genhtml.perl genhtml.bat )
-find_program( GCOVR_PATH gcovr )
+find_program( GCOVR_PATH gcovr PATHS ${CMAKE_SOURCE_DIR}/scripts/test)
 find_program( CPPFILT_PATH NAMES c++filt )

 if(NOT GCOV_PATH)
--- a/cmake/cmake-modules/GetGitRevisionDescription.cmake
+++ b/cmake/cmake-modules/GetGitRevisionDescription.cmake
@ -0,0 +1,141 @@
+# - Returns a version string from Git
+#
+# These functions force a re-configure on each git commit so that you can
+# trust the values of the variables in your build system.
+#
+#  get_git_head_revision(<refspecvar> <hashvar> [<additional arguments to git describe> ...])
+#
+# Returns the refspec and sha hash of the current head revision
+#
+#  git_describe(<var> [<additional arguments to git describe> ...])
+#
+# Returns the results of git describe on the source tree, and adjusting
+# the output so that it tests false if an error occurs.
+#
+#  git_get_exact_tag(<var> [<additional arguments to git describe> ...])
+#
+# Returns the results of git describe --exact-match on the source tree,
+# and adjusting the output so that it tests false if there was no exact
+# matching tag.
+#
+# Requires CMake 2.6 or newer (uses the 'function' command)
+#
+# Original Author:
+# 2009-2010 Ryan Pavlik <rpavlik@iastate.edu> <abiryan@ryand.net>
+# http://academic.cleardefinition.com
+# Iowa State University HCI Graduate Program/VRAC
+#
+# Copyright Iowa State University 2009-2010.
+# Distributed under the Boost Software License, Version 1.0.
+# (See accompanying file LICENSE_1_0.txt or copy at
+# http://www.boost.org/LICENSE_1_0.txt)
+
+if(__get_git_revision_description)
+    return()
+endif()
+set(__get_git_revision_description YES)
+
+# We must run the following at "include" time, not at function call time,
+# to find the path to this module rather than the path to a calling list file
+get_filename_component(_gitdescmoddir ${CMAKE_CURRENT_LIST_FILE} PATH)
+
+function(get_git_head_revision _refspecvar _hashvar)
+    set(GIT_PARENT_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
+    set(GIT_DIR "${GIT_PARENT_DIR}/.git")
+    while(NOT EXISTS "${GIT_DIR}")    # .git dir not found, search parent directories
+        set(GIT_PREVIOUS_PARENT "${GIT_PARENT_DIR}")
+        get_filename_component(GIT_PARENT_DIR ${GIT_PARENT_DIR} PATH)
+        if(GIT_PARENT_DIR STREQUAL GIT_PREVIOUS_PARENT)
+            # We have reached the root directory, we are not in git
+            set(${_refspecvar} "GITDIR-NOTFOUND" PARENT_SCOPE)
+            set(${_hashvar} "GITDIR-NOTFOUND" PARENT_SCOPE)
+            return()
+        endif()
+        set(GIT_DIR "${GIT_PARENT_DIR}/.git")
+    endwhile()
+    # check if this is a submodule
+    if(NOT IS_DIRECTORY ${GIT_DIR})
+        file(READ ${GIT_DIR} submodule)
+        string(REGEX REPLACE "gitdir: (.*)\n$" "\\1" GIT_DIR_RELATIVE ${submodule})
+        get_filename_component(SUBMODULE_DIR ${GIT_DIR} PATH)
+
+        if (IS_ABSOLUTE ${GIT_DIR_RELATIVE})
+            set(GIT_DIR ${GIT_DIR_RELATIVE})
+        else()
+            get_filename_component(GIT_DIR ${SUBMODULE_DIR}/${GIT_DIR_RELATIVE} ABSOLUTE)
+        endif()
+
+    endif()
+    set(GIT_DATA "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/git-data")
+    if(NOT EXISTS "${GIT_DATA}")
+        file(MAKE_DIRECTORY "${GIT_DATA}")
+    endif()
+
+    if(NOT EXISTS "${GIT_DIR}/HEAD")
+        return()
+    endif()
+    set(HEAD_FILE "${GIT_DATA}/HEAD")
+    configure_file("${GIT_DIR}/HEAD" "${HEAD_FILE}" COPYONLY)
+
+    configure_file("${_gitdescmoddir}/GetGitRevisionDescription.cmake.in"
+        "${GIT_DATA}/grabRef.cmake"
+        @ONLY)
+    include("${GIT_DATA}/grabRef.cmake")
+
+    set(${_refspecvar} "${HEAD_REF}" PARENT_SCOPE)
+    set(${_hashvar} "${HEAD_HASH}" PARENT_SCOPE)
+endfunction()
+
+function(git_describe _var)
+    if(NOT GIT_FOUND)
+        find_package(Git QUIET)
+    endif()
+    get_git_head_revision(refspec hash)
+    if(NOT GIT_FOUND)
+        set(${_var} "GIT-NOTFOUND" PARENT_SCOPE)
+        return()
+    endif()
+    if(NOT hash)
+        set(${_var} "HEAD-HASH-NOTFOUND" PARENT_SCOPE)
+        return()
+    endif()
+
+    # TODO sanitize
+    #if((${ARGN}" MATCHES "&&") OR
+    #    (ARGN MATCHES "||") OR
+    #    (ARGN MATCHES "\\;"))
+    #    message("Please report the following error to the project!")
+    #    message(FATAL_ERROR "Looks like someone's doing something nefarious with git_describe! Passed arguments ${ARGN}")
+    #endif()
+
+    #message(STATUS "Arguments to execute_process: ${ARGN}")
+
+    execute_process(COMMAND
+        ${GIT_EXECUTABLE}
+        describe
+        ${hash}
+        ${ARGN}
+        WORKING_DIRECTORY
+        "${CMAKE_SOURCE_DIR}"
+        RESULT_VARIABLE
+        res
+        OUTPUT_VARIABLE
+        out
+        ERROR_QUIET
+        OUTPUT_STRIP_TRAILING_WHITESPACE)
+    if(NOT res EQUAL 0)
+        set(out "${out}-${res}-NOTFOUND")
+    endif()
+
+    set(${_var} "${out}" PARENT_SCOPE)
+endfunction()
+
+function(git_get_exact_tag _var)
+    git_describe(out --exact-match ${ARGN})
+    set(${_var} "${out}" PARENT_SCOPE)
+endfunction()
+
+function(git_get_tag _var)
+    git_describe(out --tags ${ARGN})
+    set(${_var} "${out}" PARENT_SCOPE)
+endfunction()
--- a/cmake/cmake-modules/rpavlik/GetGitRevisionDescription.cmake.in
+++ b/cmake/cmake-modules/rpavlik/GetGitRevisionDescription.cmake.in
@ -8,12 +8,10 @@
 # http://academic.cleardefinition.com
 # Iowa State University HCI Graduate Program/VRAC
 #
-# Copyright 2009-2012, Iowa State University
-# Copyright 2011-2015, Contributors
+# Copyright Iowa State University 2009-2010.
 # Distributed under the Boost Software License, Version 1.0.
 # (See accompanying file LICENSE_1_0.txt or copy at
 # http://www.boost.org/LICENSE_1_0.txt)
-# SPDX-License-Identifier: BSL-1.0

 set(HEAD_HASH)

@ -25,12 +23,9 @@ if(HEAD_CONTENTS MATCHES "ref")
    string(REPLACE "ref: " "" HEAD_REF "${HEAD_CONTENTS}")
    if(EXISTS "@GIT_DIR@/${HEAD_REF}")
    configure_file("@GIT_DIR@/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
-    else()
-        configure_file("@GIT_DIR@/packed-refs" "@GIT_DATA@/packed-refs" COPYONLY)
-        file(READ "@GIT_DATA@/packed-refs" PACKED_REFS)
-        if(${PACKED_REFS} MATCHES "([0-9a-z]*) ${HEAD_REF}")
-            set(HEAD_HASH "${CMAKE_MATCH_1}")
-        endif()
+    elseif(EXISTS "@GIT_DIR@/logs/${HEAD_REF}")
+        configure_file("@GIT_DIR@/logs/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
+        set(HEAD_HASH "${HEAD_REF}")
    endif()
 else()
    # detached HEAD
@ -38,6 +33,6 @@ else()
 endif()

 if(NOT HEAD_HASH)
-    file(READ "@GIT_DATA@/head-ref" HEAD_HASH LIMIT 1024)
-    string(STRIP "${HEAD_HASH}" HEAD_HASH)
+file(READ "@GIT_DATA@/head-ref" HEAD_HASH LIMIT 1024)
+string(STRIP "${HEAD_HASH}" HEAD_HASH)
 endif()
--- a/cmake/cmake-modules/bilke/LICENSE_1_0.txt
+++ b/cmake/cmake-modules/bilke/LICENSE_1_0.txt
--- a/cmake/cmake-modules/README.md
+++ b/cmake/cmake-modules/README.md
@ -1,7 +1,5 @@
-The files in the `bilke` folder were manually copy and pasted from the
+The files in these folder were manually copy and pasted from the
 [cmake-modules repository](https://github.com/bilke/cmake-modules). It was decided to do
 this because only a small subset of its provided functions are needed.

-The files in the `rpavlik` folder were manually copy and pasted from the
-[cmake-modules repository](https://github.com/rpavlik/cmake-modules). It was decided to do
-this because only a small subset of its provided functions are needed.
+The license file in included here as well.
--- a/cmake/cmake-modules/rpavlik/GetGitRevisionDescription.cmake
+++ b/cmake/cmake-modules/rpavlik/GetGitRevisionDescription.cmake
@ -1,284 +0,0 @@
-# - Returns a version string from Git
-#
-# These functions force a re-configure on each git commit so that you can
-# trust the values of the variables in your build system.
-#
-#  get_git_head_revision(<refspecvar> <hashvar> [ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR])
-#
-# Returns the refspec and sha hash of the current head revision
-#
-#  git_describe(<var> [<additional arguments to git describe> ...])
-#
-# Returns the results of git describe on the source tree, and adjusting
-# the output so that it tests false if an error occurs.
-#
-#  git_describe_working_tree(<var> [<additional arguments to git describe> ...])
-#
-# Returns the results of git describe on the working tree (--dirty option),
-# and adjusting the output so that it tests false if an error occurs.
-#
-#  git_get_exact_tag(<var> [<additional arguments to git describe> ...])
-#
-# Returns the results of git describe --exact-match on the source tree,
-# and adjusting the output so that it tests false if there was no exact
-# matching tag.
-#
-#  git_local_changes(<var>)
-#
-# Returns either "CLEAN" or "DIRTY" with respect to uncommitted changes.
-# Uses the return code of "git diff-index --quiet HEAD --".
-# Does not regard untracked files.
-#
-# Requires CMake 2.6 or newer (uses the 'function' command)
-#
-# Original Author:
-# 2009-2020 Ryan Pavlik <ryan.pavlik@gmail.com> <abiryan@ryand.net>
-# http://academic.cleardefinition.com
-#
-# Copyright 2009-2013, Iowa State University.
-# Copyright 2013-2020, Ryan Pavlik
-# Copyright 2013-2020, Contributors
-# SPDX-License-Identifier: BSL-1.0
-# Distributed under the Boost Software License, Version 1.0.
-# (See accompanying file LICENSE_1_0.txt or copy at
-# http://www.boost.org/LICENSE_1_0.txt)
-
-if(__get_git_revision_description)
-    return()
-endif()
-set(__get_git_revision_description YES)
-
-# We must run the following at "include" time, not at function call time,
-# to find the path to this module rather than the path to a calling list file
-get_filename_component(_gitdescmoddir ${CMAKE_CURRENT_LIST_FILE} PATH)
-
-# Function _git_find_closest_git_dir finds the next closest .git directory
-# that is part of any directory in the path defined by _start_dir.
-# The result is returned in the parent scope variable whose name is passed
-# as variable _git_dir_var. If no .git directory can be found, the
-# function returns an empty string via _git_dir_var.
-#
-# Example: Given a path C:/bla/foo/bar and assuming C:/bla/.git exists and
-# neither foo nor bar contain a file/directory .git. This wil return
-# C:/bla/.git
-#
-function(_git_find_closest_git_dir _start_dir _git_dir_var)
-    set(cur_dir "${_start_dir}")
-    set(git_dir "${_start_dir}/.git")
-    while(NOT EXISTS "${git_dir}")
-        # .git dir not found, search parent directories
-        set(git_previous_parent "${cur_dir}")
-        get_filename_component(cur_dir "${cur_dir}" DIRECTORY)
-        if(cur_dir STREQUAL git_previous_parent)
-            # We have reached the root directory, we are not in git
-            set(${_git_dir_var}
-                ""
-                PARENT_SCOPE)
-            return()
-        endif()
-        set(git_dir "${cur_dir}/.git")
-    endwhile()
-    set(${_git_dir_var}
-        "${git_dir}"
-        PARENT_SCOPE)
-endfunction()
-
-function(get_git_head_revision _refspecvar _hashvar)
-    _git_find_closest_git_dir("${CMAKE_CURRENT_SOURCE_DIR}" GIT_DIR)
-
-    if("${ARGN}" STREQUAL "ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR")
-        set(ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR TRUE)
-    else()
-        set(ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR FALSE)
-    endif()
-    if(NOT "${GIT_DIR}" STREQUAL "")
-        file(RELATIVE_PATH _relative_to_source_dir "${CMAKE_SOURCE_DIR}"
-             "${GIT_DIR}")
-        if("${_relative_to_source_dir}" MATCHES "[.][.]" AND NOT ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR)
-            # We've gone above the CMake root dir.
-            set(GIT_DIR "")
-        endif()
-    endif()
-    if("${GIT_DIR}" STREQUAL "")
-        set(${_refspecvar}
-            "GITDIR-NOTFOUND"
-            PARENT_SCOPE)
-        set(${_hashvar}
-            "GITDIR-NOTFOUND"
-            PARENT_SCOPE)
-        return()
-    endif()
-
-    # Check if the current source dir is a git submodule or a worktree.
-    # In both cases .git is a file instead of a directory.
-    #
-    if(NOT IS_DIRECTORY ${GIT_DIR})
-        # The following git command will return a non empty string that
-        # points to the super project working tree if the current
-        # source dir is inside a git submodule.
-        # Otherwise the command will return an empty string.
-        #
-        execute_process(
-            COMMAND "${GIT_EXECUTABLE}" rev-parse
-                    --show-superproject-working-tree
-            WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
-            OUTPUT_VARIABLE out
-            ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
-        if(NOT "${out}" STREQUAL "")
-            # If out is empty, GIT_DIR/CMAKE_CURRENT_SOURCE_DIR is in a submodule
-            file(READ ${GIT_DIR} submodule)
-            string(REGEX REPLACE "gitdir: (.*)$" "\\1" GIT_DIR_RELATIVE
-                                 ${submodule})
-            string(STRIP ${GIT_DIR_RELATIVE} GIT_DIR_RELATIVE)
-            get_filename_component(SUBMODULE_DIR ${GIT_DIR} PATH)
-            get_filename_component(GIT_DIR ${SUBMODULE_DIR}/${GIT_DIR_RELATIVE}
-                                   ABSOLUTE)
-            set(HEAD_SOURCE_FILE "${GIT_DIR}/HEAD")
-        else()
-            # GIT_DIR/CMAKE_CURRENT_SOURCE_DIR is in a worktree
-            file(READ ${GIT_DIR} worktree_ref)
-            # The .git directory contains a path to the worktree information directory
-            # inside the parent git repo of the worktree.
-            #
-            string(REGEX REPLACE "gitdir: (.*)$" "\\1" git_worktree_dir
-                                 ${worktree_ref})
-            string(STRIP ${git_worktree_dir} git_worktree_dir)
-            _git_find_closest_git_dir("${git_worktree_dir}" GIT_DIR)
-            set(HEAD_SOURCE_FILE "${git_worktree_dir}/HEAD")
-        endif()
-    else()
-        set(HEAD_SOURCE_FILE "${GIT_DIR}/HEAD")
-    endif()
-    set(GIT_DATA "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/git-data")
-    if(NOT EXISTS "${GIT_DATA}")
-        file(MAKE_DIRECTORY "${GIT_DATA}")
-    endif()
-
-    if(NOT EXISTS "${HEAD_SOURCE_FILE}")
-        return()
-    endif()
-    set(HEAD_FILE "${GIT_DATA}/HEAD")
-    configure_file("${HEAD_SOURCE_FILE}" "${HEAD_FILE}" COPYONLY)
-
-    configure_file("${_gitdescmoddir}/GetGitRevisionDescription.cmake.in"
-                   "${GIT_DATA}/grabRef.cmake" @ONLY)
-    include("${GIT_DATA}/grabRef.cmake")
-
-    set(${_refspecvar}
-        "${HEAD_REF}"
-        PARENT_SCOPE)
-    set(${_hashvar}
-        "${HEAD_HASH}"
-        PARENT_SCOPE)
-endfunction()
-
-function(git_describe _var)
-    if(NOT GIT_FOUND)
-        find_package(Git QUIET)
-    endif()
-    get_git_head_revision(refspec hash)
-    if(NOT GIT_FOUND)
-        set(${_var}
-            "GIT-NOTFOUND"
-            PARENT_SCOPE)
-        return()
-    endif()
-    if(NOT hash)
-        set(${_var}
-            "HEAD-HASH-NOTFOUND"
-            PARENT_SCOPE)
-        return()
-    endif()
-
-    # TODO sanitize
-    #if((${ARGN}" MATCHES "&&") OR
-    #   (ARGN MATCHES "||") OR
-    #   (ARGN MATCHES "\\;"))
-    #   message("Please report the following error to the project!")
-    #   message(FATAL_ERROR "Looks like someone's doing something nefarious with git_describe! Passed arguments ${ARGN}")
-    #endif()
-
-    #message(STATUS "Arguments to execute_process: ${ARGN}")
-
-    execute_process(
-        COMMAND "${GIT_EXECUTABLE}" describe --tags --always ${hash} ${ARGN}
-        WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
-        RESULT_VARIABLE res
-        OUTPUT_VARIABLE out
-        ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
-    if(NOT res EQUAL 0)
-        set(out "${out}-${res}-NOTFOUND")
-    endif()
-
-    set(${_var}
-        "${out}"
-        PARENT_SCOPE)
-endfunction()
-
-function(git_describe_working_tree _var)
-    if(NOT GIT_FOUND)
-        find_package(Git QUIET)
-    endif()
-    if(NOT GIT_FOUND)
-        set(${_var}
-            "GIT-NOTFOUND"
-            PARENT_SCOPE)
-        return()
-    endif()
-
-    execute_process(
-        COMMAND "${GIT_EXECUTABLE}" describe --dirty ${ARGN}
-        WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
-        RESULT_VARIABLE res
-        OUTPUT_VARIABLE out
-        ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
-    if(NOT res EQUAL 0)
-        set(out "${out}-${res}-NOTFOUND")
-    endif()
-
-    set(${_var}
-        "${out}"
-        PARENT_SCOPE)
-endfunction()
-
-function(git_get_exact_tag _var)
-    git_describe(out --exact-match ${ARGN})
-    set(${_var}
-        "${out}"
-        PARENT_SCOPE)
-endfunction()
-
-function(git_local_changes _var)
-    if(NOT GIT_FOUND)
-        find_package(Git QUIET)
-    endif()
-    get_git_head_revision(refspec hash)
-    if(NOT GIT_FOUND)
-        set(${_var}
-            "GIT-NOTFOUND"
-            PARENT_SCOPE)
-        return()
-    endif()
-    if(NOT hash)
-        set(${_var}
-            "HEAD-HASH-NOTFOUND"
-            PARENT_SCOPE)
-        return()
-    endif()
-
-    execute_process(
-        COMMAND "${GIT_EXECUTABLE}" diff-index --quiet HEAD --
-        WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
-        RESULT_VARIABLE res
-        OUTPUT_VARIABLE out
-        ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
-    if(res EQUAL 0)
-        set(${_var}
-            "CLEAN"
-            PARENT_SCOPE)
-    else()
-        set(${_var}
-            "DIRTY"
-            PARENT_SCOPE)
-    endif()
-endfunction()
--- a/cmake/cmake-modules/rpavlik/LICENSES/BSD-3-Clause.txt
+++ b/cmake/cmake-modules/rpavlik/LICENSES/BSD-3-Clause.txt
@ -1,26 +0,0 @@
-Copyright (c) <year> <owner>. All rights reserved.
-
-Redistribution and use in source and binary forms, with or without modification,
-are permitted provided that the following conditions are met:
-
-1. Redistributions of source code must retain the above copyright notice,
-this list of conditions and the following disclaimer.
-
-2. Redistributions in binary form must reproduce the above copyright notice,
-this list of conditions and the following disclaimer in the documentation
-and/or other materials provided with the distribution.
-
-3. Neither the name of the copyright holder nor the names of its contributors
-may be used to endorse or promote products derived from this software without
-specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
-USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
--- a/cmake/cmake-modules/rpavlik/LICENSES/BSL-1.0.txt
+++ b/cmake/cmake-modules/rpavlik/LICENSES/BSL-1.0.txt
@ -1,23 +0,0 @@
-Boost Software License - Version 1.0 - August 17th, 2003
-
-Permission is hereby granted, free of charge, to any person or organization
-obtaining a copy of the software and accompanying documentation covered by
-this license (the "Software") to use, reproduce, display, distribute, execute,
-and transmit the Software, and to prepare derivative works of the Software,
-and to permit third-parties to whom the Software is furnished to do so, all
-subject to the following:
-
-The copyright notices in the Software and this entire statement, including
-the above license grant, this restriction and the following disclaimer, must
-be included in all copies of the Software, in whole or in part, and all derivative
-works of the Software, unless such copies or derivative works are solely in
-the form of machine-executable object code generated by a source language
-processor.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
-FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE
-COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE FOR ANY DAMAGES
-OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
--- a/cmake/cmake-modules/rpavlik/LICENSE_1_0.txt
+++ b/cmake/cmake-modules/rpavlik/LICENSE_1_0.txt
@ -1,23 +0,0 @@
-Boost Software License - Version 1.0 - August 17th, 2003
-
-Permission is hereby granted, free of charge, to any person or organization
-obtaining a copy of the software and accompanying documentation covered by
-this license (the "Software") to use, reproduce, display, distribute,
-execute, and transmit the Software, and to prepare derivative works of the
-Software, and to permit third-parties to whom the Software is furnished to
-do so, all subject to the following:
-
-The copyright notices in the Software and this entire statement, including
-the above license grant, this restriction and the following disclaimer,
-must be included in all copies of the Software, in whole or in part, and
-all derivative works of the Software, unless such copies or derivative
-works are solely in the form of machine-executable object code generated by
-a source language processor.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
-SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
-FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
-ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
-DEALINGS IN THE SOFTWARE.
--- a/docs/README-config.md
+++ b/docs/README-config.md
@ -0,0 +1,40 @@
+Configuring the FSFW
+======
+
+The FSFW can be configured via the `fsfwconfig` folder. A template folder has
+been provided to have a starting point for this. The folder should be added
+to the include path. The primary configuration file is the `FSFWConfig.h` folder. Some
+of the available options will be explained in more detail here.
+
+# Auto-Translation of Events
+
+The FSFW allows the automatic translation of events, which allows developers to track triggered
+events directly via console output. Using this feature requires:
+
+1. `FSFW_OBJ_EVENT_TRANSLATION` set to 1 in the configuration file.
+2. Special auto-generated translation files which translate event IDs and object IDs into
+   human readable strings. These files can be generated using the 
+   [modgen Python scripts](https://git.ksat-stuttgart.de/source/modgen.git).
+3. The generated translation files for the object IDs should be named `translatesObjects.cpp`
+   and `translateObjects.h` and should be copied to the `fsfwconfig/objects` folder
+4. The generated translation files for the event IDs should be named `translateEvents.cpp` and
+   `translateEvents.h` and should be copied to the `fsfwconfig/events` folder
+   
+An example implementations of these translation file generators can be found as part
+of the [SOURCE project here](https://git.ksat-stuttgart.de/source/sourceobsw/-/tree/development/generators)
+or the [FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/generators)
+
+## Configuring the Event Manager
+
+The number of allowed subscriptions can be modified with the following
+parameters:
+
+``` c++
+namespace fsfwconfig {
+//! Configure the allocated pool sizes for the event manager.
+static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
+static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
+static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
+}
+```
+
--- a/docs/README-controllers.md
+++ b/docs/README-controllers.md
@ -0,0 +1 @@
+## Controllers
--- a/docs/README-core.md
+++ b/docs/README-core.md
@ -0,0 +1,55 @@
+## FSFW Core Modules
+
+These core modules provide the most important functionalities of the 
+Flight Software Framework
+
+### Clock
+
+ * This is a class of static functions that can be used at anytime
+ * Leap Seconds must be set if any time conversions from UTC to other times is used
+
+### ObjectManager
+
+* Must be created during program startup
+* The component which handles all references. All SystemObjects register at this component. 
+* Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects.
+* A reference to an object can be get by calling the following function. T must be the specific Interface you want to call.
+A nullptr check of the returning Pointer must be done. This function is based on Run-time type information. 
+
+```cpp
+template <typename T> T* ObjectManagerIF::get( object_id_t id )
+```
+* A typical way to create all objects on startup is a handing a static produce function to the
+  ObjectManager on creation. By calling objectManager->initialize() the produce function will be
+  called and all SystemObjects will be initialized afterwards.
+
+### Event Manager
+
+* Component which allows routing of events
+* Other objects can subscribe to specific events, ranges of events or all events of an object.
+* Subscriptions can be done during runtime but should be done during initialization
+* Amounts of allowed subscriptions can be configured in `FSFWConfig.h`
+
+### Health Table
+
+* A component which holds every health state 
+* Provides a thread safe way to access all health states without the need of message exchanges
+
+### Stores
+
+* The message based communication can only exchange a few bytes of information inside the message
+  itself. Therefore, additional information can  be exchanged with Stores. With this, only the
+  store address must be exchanged in the message.
+* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC
+  Store is used. For outgoing TM a TM store is used.
+* All of them should use the Thread Safe Class storagemanager/PoolManager
+
+### Tasks
+
+There are two different types of tasks:
+ * The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the
+   insertion to the Tasks.
+ * FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for
+   DeviceHandlers, where polling should be in a defined order. An example can be found in 
+   `defaultcfg/fsfwconfig/pollingSequence` folder
+
--- a/docs/README-devicehandlers.md
+++ b/docs/README-devicehandlers.md
@ -0,0 +1 @@
+## Device Handlers
--- a/docs/README-highlevel.md
+++ b/docs/README-highlevel.md
@ -0,0 +1,135 @@
+High-level overview
+======
+
+# Structure
+
+The general structure is driven by the usage of interfaces provided by objects. 
+The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be
+widely available, even with older compilers.
+The FSFW uses dynamic allocation during the initialization but provides static containers during runtime. 
+This simplifies the instantiation of objects and allows the usage of some standard containers. 
+Dynamic Allocation after initialization is discouraged and different solutions are provided in the
+FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed.
+
+# Failure Handling
+
+Functions should return a defined `ReturnValue_t` to signal to the caller that something has
+gone wrong. Returnvalues must be unique. For this the function `HasReturnvaluesIF::makeReturnCode`
+or the macro `MAKE_RETURN` can be used. The `CLASS_ID` is a unique id for that type of object.
+See `returnvalues/FwClassIds` folder. The user can add custom `CLASS_ID`s via the
+`fsfwconfig` folder.
+
+# OSAL
+
+The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS. 
+The OSAL provides periodic tasks, message queues, clocks and semaphores as well as mutexes.
+The [OSAL README](doc/README-osal.md#top) provides more detailed information on provided components
+and how to use them.
+
+# Core Components 
+
+The FSFW has following core components. More detailed informations can be found in the
+[core component section](doc/README-core.md#top):
+
+1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks 
+   with fixed timeslots
+2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID
+   to the object handles.
+3. Static Stores: Different stores are provided to store data of variable size (like telecommands 
+   or small telemetry) in a pool structure without using dynamic memory allocation.
+   These pools are allocated up front.
+3. Clock: This module provided common time related functions
+4. EventManager: This module allows routing of events generated by `SystemObjects`
+5. HealthTable: A component which stores the health states of objects
+
+# Static IDs in the framework
+
+Some parts of the framework use a static routing address for communication. 
+An example setup of ids can be found in the example config in `defaultcft/fsfwconfig/objects`
+ inside the function `Factory::setStaticFrameworkObjectIds()`.
+
+# Events
+
+Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT. 
+This works analog to the returnvalues. Every object that needs own EventIds has to get a
+unique SUBSYSTEM_ID. Every SystemObject can call triggerEvent from the parent class.
+Therefore, event messages contain the specific EventId and the objectId of the object that
+has triggered.
+
+# Internal Communication
+
+Components communicate mostly via Messages through Queues. 
+Those queues are created by calling the singleton `QueueFactory::instance()->create()` which
+will create `MessageQueue` instances for the used OSAL.
+
+# External Communication
+
+The external communication with the mission control system is mostly up to the user implementation.
+The FSFW provides PUS Services which can be used to but don't need to be used. 
+The services can be seen as a conversion from a TC to a message based communication and back.
+
+## TMTC Communication
+
+The FSFW provides some components to facilitate TMTC handling via the PUS commands.
+For example, a UDP or TCP PUS server socket can be opened on a specific port using the
+files located in `osal/common`. The FSFW example uses this functionality to allow sending telecommands
+and receiving telemetry using the [TMTC commander application](https://github.com/spacefisch/tmtccmd).
+Simple commands like the PUS Service 17 ping service can be tested by simply running the
+`tmtc_client_cli.py` or `tmtc_client_gui.py` utility in 
+the [example tmtc folder](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/tmtc)
+while the `fsfw_example` application is running.
+
+More generally, any class responsible for handling incoming telecommands and sending telemetry
+can implement the generic `TmTcBridge` class located in `tmtcservices`. Many applications
+also use a dedicated polling task for reading telecommands which passes telecommands
+to the `TmTcBridge` implementation.
+
+## CCSDS Frames, CCSDS Space Packets and PUS
+
+If the communication is based on CCSDS Frames and Space Packets, several classes can be used to
+distributed the packets to the corresponding services. Those can be found in `tcdistribution`. 
+If Space Packets are used, a timestamper has to be provided by the user. 
+An example can be found in the `timemanager` folder, which uses `CCSDSTime::CDS_short`.
+
+# Device Handlers
+
+DeviceHandlers are another important component of the FSFW. 
+The idea is, to have a software counterpart of every physical device to provide a simple mode,
+health and commanding interface. By separating the underlying Communication Interface with 
+`DeviceCommunicationIF`, a device handler (DH) can be tested on different hardware.
+The DH has mechanisms to monitor the communication with the physical device which allow
+for FDIR reaction.  Device Handlers can be created by implementing `DeviceHandlerBase`. 
+A standard FDIR component for the DH will be created automatically but can
+be overwritten by the user. More information on DeviceHandlers can be found in the
+related [documentation section](doc/README-devicehandlers.md#top).
+
+# Modes and Health
+
+The two interfaces `HasModesIF` and `HasHealthIF` provide access for commanding and monitoring
+of components. On-board Mode Management is implement in hierarchy system. 
+DeviceHandlers and Controllers are the lowest part of the hierarchy. 
+The next layer are Assemblies. Those assemblies act as a component which handle
+redundancies of handlers. Assemblies share a common core with the next level which
+are the Subsystems. 
+
+Those Assemblies are intended to act as auto-generated components from a database which describes
+the subsystem modes. The definitions contain transition and target tables which contain the DH,
+Assembly and Controller Modes to be commanded.
+Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a
+switch into any higher AOCS mode might first turn on the sensors, than the actuators and the
+controller as last component. 
+The target table is used to describe the state that is checked continuously by the subsystem. 
+All of this allows System Modes to be generated as Subsystem object as well from the same database. 
+This System contains list of subsystem modes in the transition and target tables. 
+Therefore, it allows a modular system to create system modes and easy commanding of those, because
+only the highest components must be commanded.
+
+The health state represents if the component is able to perform its tasks. 
+This can be used to signal the system to avoid using this component instead of a redundant one.
+The on-board FDIR uses the health state for isolation and recovery. 
+
+# Unit Tests
+
+Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include
+catch2 itself. More information on how to run these tests can be found in the separate
+[`fsfw_tests` reposoitory](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_tests)
--- a/docs/README-localpools.md
+++ b/docs/README-localpools.md
@ -0,0 +1,174 @@
+## Local Data Pools Developer Information
+
+The following text is targeted towards mission software developers which would like
+to use the local data pools provided by the FSFW to store data like sensor values so they can be 
+used by other software objects like controllers as well. If a custom class should have a local 
+pool which  can be used by other software objects as well, following steps have to be performed:
+
+1. Create a `LocalDataPoolManager` member object in the custom class
+2. Implement the `HasLocalDataPoolIF` with specifies the interface between the local pool manager
+and the class owning the local pool.
+
+The local data pool manager is also able to process housekeeping service requests in form
+of messages, generate periodic housekeeping packet, generate notification and snapshots of changed
+variables and datasets and process notifications and snapshots coming from other objects.
+The two former tasks are related to the external interface using telemetry and telecommands (TMTC)
+while the later two are related to data consumers like controllers only acting on data change 
+detected by the data creator instead of checking the data manually each cycle. Two important 
+framework classes `DeviceHandlerBase` and `ExtendedControllerBase` already perform the two steps 
+shown above so the steps required are altered slightly.
+
+### Storing and Accessing pool data 
+
+The pool manager is responsible for thread-safe access of the pool data, but the actual
+access to the pool data from the point of view of a mission software developer happens via proxy
+classes like pool variable classes. These classes store a copy
+of the pool variable with the matching datatype and copy the actual data from the local pool
+on a `read` call. Changed variables can then be written to the local pool with a `commit` call.
+The `read` and `commit` calls are thread-safe and can be called concurrently from data creators
+and data consumers. Generally, a user will create a dataset class which in turn groups all 
+cohesive pool variables. These sets simply iterator over the list of variables and call the 
+`read` and `commit` functions of each variable. The following diagram shows the
+high-level architecture of the local data pools.
+
+.. image:: ../misc/logo/FSFW_Logo_V3_bw.png
+   :alt: FSFW Logo
+
+
+An example is shown for using the local data pools with a Gyroscope.
+For example, the following code shows an implementation to access data from a Gyroscope taken
+from the SOURCE CubeSat project:
+
+```cpp
+class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
+public:
+    /**
+     * Constructor for data users
+     * @param gyroId
+     */
+    GyroPrimaryDataset(object_id_t gyroId):
+            StaticLocalDataSet(sid_t(gyroId, gyrodefs::GYRO_DATA_SET_ID)) {
+        setAllVariablesReadOnly();
+    }
+
+    lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
+            gyrodefs::ANGULAR_VELOCITY_X, this);
+    lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
+            gyrodefs::ANGULAR_VELOCITY_Y, this);
+    lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
+            gyrodefs::ANGULAR_VELOCITY_Z, this);
+private:
+
+    friend class GyroHandler;
+    /**
+     * Constructor for data creator
+     * @param hkOwner
+     */
+    GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
+            StaticLocalDataSet(hkOwner, gyrodefs::GYRO_DATA_SET_ID) {}
+};
+```
+
+There is a public constructor for users which sets all variables to read-only and there is a
+constructor for the GyroHandler data creator by marking it private and declaring the `GyroHandler`
+as a friend class. Both the atittude controller and the `GyroHandler` can now
+use the same class definition to access the pool variables with `read` and `commit` semantics
+in a thread-safe way. Generally, each class requiring access will have the set class as a member
+class. The data creator will also be generally a `DeviceHandlerBase` subclass and some additional
+steps are necessary to expose the set for housekeeping purposes.
+
+### Using the local data pools in a `DeviceHandlerBase` subclass
+
+It is very common to store data generated by devices like a sensor into a pool which can 
+then be used by other objects. Therefore, the `DeviceHandlerBase` already has a
+local pool. Using the aforementioned example, our `GyroHandler` will now have the set class
+as a member:
+
+```cpp
+class GyroHandler: ... {
+
+public:
+	...
+private:
+	...
+	GyroPrimaryDataset gyroData;
+	...
+};
+```
+
+The constructor used for the creators expects the owner class as a parameter, so we initialize
+the object in the `GyroHandler` constructor like this:
+
+```cpp
+GyroHandler::GyroHandler(object_id_t objectId, object_id_t comIF,
+        CookieIF *comCookie, uint8_t switchId):
+        DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
+		gyroData(this) {}
+```
+
+We need to assign the set to a reply ID used in the `DeviceHandlerBase`. 
+The combination of the `GyroHandler` object ID and the reply ID will be the 64-bit structure ID
+`sid_t` and is used to globally identify the set, for example when requesting housekeeping data or
+generating update messages. We need to assign our custom set class in some way so that the local 
+pool manager can access the custom data sets as well.
+By default, the `getDataSetHandle` will take care of this tasks. The default implementation for a
+`DeviceHandlerBase` subclass will use the internal command map to retrieve 
+a handle to a dataset from a given reply ID. Therefore,
+we assign the set in the `fillCommandAndReplyMap` function:
+
+```cpp
+void GyroHandler::fillCommandAndReplyMap() {
+	...
+	this->insertInCommandAndReplyMap(gyrodefs::GYRO_DATA, 3, &gyroData);
+	...
+}
+```
+
+Now, we need to create the actual pool entries as well, using the `initializeLocalDataPool` 
+function. Here, we also immediately subscribe for periodic housekeeping packets 
+with an interval of 4 seconds. They are still disabled in this example and can be enabled 
+with a housekeeping service command.
+
+```cpp
+ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+		LocalDataPoolManager &poolManager) {
+	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_X,
+			new PoolEntry<float>({0.0}));
+	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Y,
+			new PoolEntry<float>({0.0}));
+	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Z,
+			new PoolEntry<float>({0.0}));
+	localDataPoolMap.emplace(gyrodefs::GENERAL_CONFIG_REG42,
+			new PoolEntry<uint8_t>({0}));
+	localDataPoolMap.emplace(gyrodefs::RANGE_CONFIG_REG43,
+			new PoolEntry<uint8_t>({0}));
+
+	poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+```
+
+Now, if we receive some sensor data and converted them into the right format, 
+we can write it into the pool like this, using a guard class to ensure the set is commited back 
+in any case:
+
+```cpp
+PoolReadGuard readHelper(&gyroData);
+if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+	if(not gyroData.isValid()) {
+		gyroData.setValidity(true, true);
+	}
+
+	gyroData.angVelocityX = angularVelocityX;
+	gyroData.angVelocityY = angularVelocityY;
+	gyroData.angVelocityZ = angularVelocityZ;
+}
+```
+
+The guard class will commit the changed data on destruction automatically.
+
+### Using the local data pools in a `ExtendedControllerBase` subclass
+
+Coming soon
+
+
--- a/docs/README-osal.md
+++ b/docs/README-osal.md
@ -0,0 +1,32 @@
+# Operating System Abstraction Layer (OSAL)
+
+Some specific information on the provided OSALs are provided.
+
+## Linux OSAL
+
+This OSAL can be used to compile for Linux host systems like Ubuntu 20.04 or for 
+embedded Linux targets like the Raspberry Pi. This OSAL generally requires threading support
+and real-time functionalities. For most UNIX systems, this is done by adding `-lrt` and `-lpthread` to the linked libraries in the compilation process. The CMake build support provided will do this automatically for the `fsfw` target. It should be noted that most UNIX systems need to be configured specifically to allow the real-time functionalities required by the FSFW.
+
+More information on how to set up a Linux system accordingly can be found in the 
+[Linux README of the FSFW example application](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example/src/branch/master/doc/README-linux.md#top)
+
+## Hosted OSAL
+
+This is the newest OSAL. Support for Semaphores has not been implemented yet and will propably be implemented as soon as C++20 with Semaphore support has matured. This OSAL can be used to run the FSFW on any host system, but currently has only been tested on Windows 10 and Ubuntu 20.04. Unlike the other OSALs, it uses dynamic memory allocation (e.g. for the message queue implementation). Cross-platform serial port (USB) support might be added soon.
+
+## FreeRTOS OSAL
+
+FreeRTOS is not included and the developer needs to take care of compiling the FreeRTOS sources and adding the `FreeRTOSConfig.h` file location to the include path. This OSAL has only been tested extensively with the pre-emptive scheduler configuration so far but it should in principle also be possible to use a cooperative scheduler. It is recommended to use the `heap_4` allocation scheme. When using newlib (nano), it is also recommended to add `#define configUSE_NEWLIB_REENTRANT` to the FreeRTOS configuration file to ensure thread-safety.
+
+When using this OSAL, developers also need to provide an implementation for the `vRequestContextSwitchFromISR` function. This has been done because the call to request a context switch from an ISR is generally located in the `portmacro.h` header and is different depending on the target architecture or device.
+
+## RTEMS OSAL
+
+The RTEMS OSAL was the first implemented OSAL which is also used on the active satellite Flying Laptop.
+
+## TCP/IP socket abstraction
+
+The Linux and Host OSAL provide abstraction layers for the socket API. Currently, only UDP sockets have been imlemented. This is very useful to test TMTC handling either on the host computer directly (targeting localhost with a TMTC application) or on embedded Linux devices, sending TMTC packets via Ethernet.
+
+
--- a/docs/README-pus.md
+++ b/docs/README-pus.md
@ -0,0 +1 @@
+## PUS Services
--- a/docs/api.rst
+++ b/docs/api.rst
@ -4,7 +4,6 @@ API
 .. toctree::
   :maxdepth: 4

-   api/cfdp
   api/objectmanager
   api/task
   api/ipc
--- a/docs/api/cfdp.rst
+++ b/docs/api/cfdp.rst
@ -1,8 +0,0 @@
-CFDP API
-=================
-
-``UserBase``
-----------------
-
-.. doxygenclass:: cfdp::UserBase
-	:members:
--- a/docs/api/returnvalue.rst
+++ b/docs/api/returnvalue.rst
@ -3,7 +3,7 @@
 Returnvalue API
 ==================

-.. doxygenfile:: returnvalue.h
+.. doxygenfile:: HasReturnvaluesIF.h

 .. _fwclassids:

--- a/docs/conf.py
+++ b/docs/conf.py
@ -17,12 +17,12 @@

 # -- Project information -----------------------------------------------------

-project = "Flight Software Framework"
-copyright = "2021, Institute of Space Systems (IRS)"
-author = "Institute of Space Systems (IRS)"
+project = 'Flight Software Framework'
+copyright = '2021, Institute of Space Systems (IRS)'
+author = 'Institute of Space Systems (IRS)'

 # The full version, including alpha/beta/rc tags
-release = "5.0.0"
+release = '2.0.1'


 # -- General configuration ---------------------------------------------------
@ -30,17 +30,17 @@ release = "5.0.0"
 # Add any Sphinx extension module names here, as strings. They can be
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 # ones.
-extensions = ["breathe"]
+extensions = [ "breathe" ]

 breathe_default_project = "fsfw"

 # Add any paths that contain templates here, relative to this directory.
-templates_path = ["_templates"]
+templates_path = ['_templates']

 # List of patterns, relative to source directory, that match files and
 # directories to ignore when looking for source files.
 # This pattern also affects html_static_path and html_extra_path.
-exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
+exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']


 # -- Options for HTML output -------------------------------------------------
@ -48,15 +48,7 @@ exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
 # The theme to use for HTML and HTML Help pages.  See the documentation for
 # a list of builtin themes.
 #
-html_theme = "alabaster"
-
-html_theme_options = {
-    "extra_nav_links": {
-        "Impressum": "https://www.uni-stuttgart.de/impressum",
-        "Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html",
-    }
-}
-
+html_theme = 'alabaster'

 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
--- a/docs/devicehandlers.rst
+++ b/docs/devicehandlers.rst
@ -75,11 +75,11 @@ and the respective source file with sensible default return values:
 	void TestDeviceHandler::doShutDown() {}

 	ReturnValue_t TestDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
-	  return returnvalue::OK;
+	  return HasReturnvaluesIF::RETURN_OK;
 	}

 	ReturnValue_t TestDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
-	  return returnvalue::OK;
+	  return HasReturnvaluesIF::RETURN_OK;
 	}

 	void TestDeviceHandler::fillCommandAndReplyMap() {}
@ -87,17 +87,17 @@ and the respective source file with sensible default return values:
 	ReturnValue_t TestDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
 	                                                         const uint8_t* commandData,
 	                                                         size_t commandDataLen) {
-	  return returnvalue::OK;
+	  return HasReturnvaluesIF::RETURN_OK;
 	}

 	ReturnValue_t TestDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize,
 	                                              DeviceCommandId_t* foundId, size_t* foundLen) {
-	  return returnvalue::OK;
+	  return HasReturnvaluesIF::RETURN_OK;
 	}

 	ReturnValue_t TestDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
 	                                                      const uint8_t* packet) {
-	  return returnvalue::OK;
+	  return HasReturnvaluesIF::RETURN_OK;
 	}

 	uint32_t TestDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
@ -106,5 +106,5 @@ and the respective source file with sensible default return values:

 	ReturnValue_t TestDeviceHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
 	                                                         LocalDataPoolManager& poolManager) {
-	  return returnvalue::OK;
+	  return HasReturnvaluesIF::RETURN_OK;
 	}
--- a/docs/getting_started.rst
+++ b/docs/getting_started.rst
@ -106,7 +106,7 @@ You can use the following commands inside the ``fsfw`` folder to set up the buil
 .. code-block:: console

   mkdir build-tests && cd build-tests
-   cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host ..
+   cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..


 You can also use ``-DFSFW_OSAL=linux`` on Linux systems.
--- a/docs/highlevel.rst
+++ b/docs/highlevel.rst
@ -7,19 +7,18 @@ Structure
 ----------

 The general structure is driven by the usage of interfaces provided by objects.
-The FSFW uses C++17 as baseline. Most modern compilers like GCC should have support for this
-standard, even for micocontrollers.
-
-The FSFW might use dynamic allocation during program initialization but not during runtime.
-It offers pool objects, static containers and it also exposes the
-`Embedded Template Library <https://www.etlcpp.com/>`_ to allow writing code which does not perform
-allocation during runtime. The fsfw uses run-time type information but will not throw exceptions.
+The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be
+widely available, even with older compilers.
+The FSFW uses dynamic allocation during the initialization but provides static containers during runtime.
+This simplifies the instantiation of objects and allows the usage of some standard containers.
+Dynamic Allocation after initialization is discouraged and different solutions are provided in the
+FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed.

 Failure Handling
 -----------------

 Functions should return a defined :cpp:type:`ReturnValue_t` to signal to the caller that something has
-gone wrong. Returnvalues must be unique. For this the function :cpp:func:`returnvalue::makeCode`
+gone wrong. Returnvalues must be unique. For this the function :cpp:func:`HasReturnvaluesIF::makeReturnCode`
 or the :ref:`macro MAKE_RETURN_CODE <retvalapi>` can be used. The ``CLASS_ID`` is a unique ID for that type of object.
 See the :ref:`FSFW Class IDs file <fwclassids>`. The user can add custom ``CLASS_ID``\s via the
 ``fsfwconfig`` folder.
--- a/docs/localpools.rst
+++ b/docs/localpools.rst
@ -150,7 +150,7 @@ with a housekeeping service command.
 				new PoolEntry<uint8_t>({0}));

 		poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
-		return returnvalue::OK;
+		return HasReturnvaluesIF::RETURN_OK;
 	}

 Now, if we receive some sensor data and converted them into the right format,
@ -160,7 +160,7 @@ in any case:
 .. code-block:: cpp

 	PoolReadGuard readHelper(&gyroData);
-	if(readHelper.getReadResult() == returnvalue::OK) {
+	if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
 		if(not gyroData.isValid()) {
 			gyroData.setValidity(true, true);
 		}
--- a/hal/CMakeLists.txt
+++ b/hal/CMakeLists.txt
@ -0,0 +1,48 @@
+cmake_minimum_required(VERSION 3.13)
+
+# Can also be changed by upper CMakeLists.txt file
+find_library(LIB_FSFW_NAME fsfw REQUIRED)
+
+option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod library" OFF)
+# On by default for now because I did not have an issue including and compiling those files
+# and libraries on a Desktop Linux system and the primary target of the FSFW is still embedded
+# Linux. The only exception from this is the gpiod library which requires a dedicated installation,
+# but CMake is able to determine whether this library is installed with find_library.
+option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
+option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Target implements libgpiod" ON)
+
+option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
+option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
+option(FSFW_HAL_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
+
+set(LINUX_HAL_PATH_NAME linux)
+set(STM32H7_PATH_NAME stm32h7)
+
+add_subdirectory(src)
+
+foreach(INCLUDE_PATH ${FSFW_HAL_ADDITIONAL_INC_PATHS})
+    if(IS_ABSOLUTE ${INCLUDE_PATH})
+        set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
+    else()
+        get_filename_component(CURR_ABS_INC_PATH
+            ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
+    endif()
+
+    if(CMAKE_VERBOSE)
+        message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
+    endif()
+
+    list(APPEND FSFW_HAL_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
+endforeach()
+
+target_include_directories(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_HAL_ADD_INC_PATHS_ABS}
+)
+
+target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_HAL_DEFINES}
+)
+
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_HAL_LINK_LIBS}
+)
--- a/hal/src/CMakeLists.txt
+++ b/hal/src/CMakeLists.txt
@ -0,0 +1,9 @@
+target_include_directories(${LIB_FSFW_NAME} PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+target_include_directories(${LIB_FSFW_NAME} INTERFACE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+add_subdirectory(fsfw_hal)
--- a/hal/src/fsfw_hal/CMakeLists.txt
+++ b/hal/src/fsfw_hal/CMakeLists.txt
@ -1,6 +1,5 @@
 add_subdirectory(devicehandlers)
 add_subdirectory(common)
-add_subdirectory(host)

 if(UNIX)
    add_subdirectory(linux)
--- a/hal/src/fsfw_hal/common/CMakeLists.txt
+++ b/hal/src/fsfw_hal/common/CMakeLists.txt
@ -0,0 +1 @@
+add_subdirectory(gpio)
--- a/hal/src/fsfw_hal/common/gpio/CMakeLists.txt
+++ b/hal/src/fsfw_hal/common/gpio/CMakeLists.txt
@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    GpioCookie.cpp
+)
--- a/hal/src/fsfw_hal/common/gpio/GpioCookie.cpp
+++ b/hal/src/fsfw_hal/common/gpio/GpioCookie.cpp
@ -11,7 +11,7 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
 #else
    sif::printWarning("GpioCookie::addGpio: gpioConfig is nullpointer\n");
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  auto gpioMapIter = gpioMap.find(gpioId);
  if (gpioMapIter == gpioMap.end()) {
@ -25,9 +25,9 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
      sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId);
 #endif
 #endif
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
  }
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@ -36,7 +36,7 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
  sif::printWarning("GpioCookie::addGpio: GPIO already exists in GPIO map\n");
 #endif
 #endif
-  return returnvalue::FAILED;
+  return HasReturnvaluesIF::RETURN_FAILED;
 }

 GpioMap GpioCookie::getGpioMap() const { return gpioMap; }
--- a/hal/src/fsfw_hal/common/gpio/GpioCookie.h
+++ b/hal/src/fsfw_hal/common/gpio/GpioCookie.h
@ -2,7 +2,7 @@
 #define COMMON_GPIO_GPIOCOOKIE_H_

 #include <fsfw/devicehandlers/CookieIF.h>
-#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>

 #include "GpioIF.h"
 #include "gpioDefinitions.h"
--- a/hal/src/fsfw_hal/common/gpio/GpioIF.h
+++ b/hal/src/fsfw_hal/common/gpio/GpioIF.h
@ -2,7 +2,7 @@
 #define COMMON_GPIO_GPIOIF_H_

 #include <fsfw/devicehandlers/CookieIF.h>
-#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>

 #include "gpioDefinitions.h"

@ -13,7 +13,7 @@ class GpioCookie;
 * 			over GPIOs.
 * @author	J. Meier
 */
-class GpioIF {
+class GpioIF : public HasReturnvaluesIF {
 public:
  virtual ~GpioIF(){};

@ -29,7 +29,7 @@ class GpioIF {
   * 			functionality to pull a certain GPIO to high logic level.
   *
   * @param gpioId	A unique number which specifies the GPIO to drive.
-   * @return  Returns returnvalue::OK for success. This should never return returnvalue::FAILED.
+   * @return  Returns RETURN_OK for success. This should never return RETURN_FAILED.
   */
  virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;

--- a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
+++ b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
@ -5,14 +5,6 @@
 #include <string>
 #include <unordered_map>

-#ifdef PLATFORM_WIN
-// Defined in Windows header for whatever reason, and leads to nameclash issues with
-// class enums which have entries of the same name.
-#undef IN
-#undef OUT
-#undef CALLBACK
-#endif
-
 using gpioId_t = uint16_t;

 namespace gpio {
--- a/hal/src/fsfw_hal/common/spi/spiCommon.h
+++ b/hal/src/fsfw_hal/common/spi/spiCommon.h
@ -0,0 +1,12 @@
+#ifndef FSFW_HAL_COMMON_SPI_SPICOMMON_H_
+#define FSFW_HAL_COMMON_SPI_SPICOMMON_H_
+
+#include <cstdint>
+
+namespace spi {
+
+enum SpiModes : uint8_t { MODE_0, MODE_1, MODE_2, MODE_3 };
+
+}
+
+#endif /* FSFW_HAL_COMMON_SPI_SPICOMMON_H_ */
--- a/hal/src/fsfw_hal/devicehandlers/CMakeLists.txt
+++ b/hal/src/fsfw_hal/devicehandlers/CMakeLists.txt
@ -0,0 +1,5 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    GyroL3GD20Handler.cpp
+    MgmRM3100Handler.cpp
+    MgmLIS3MDLHandler.cpp
+)
--- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
@ -46,17 +46,17 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
      return NOTHING_TO_SEND;
    }
    case (InternalState::CONFIGURE): {
-      *id = l3gd20h::CONFIGURE_CTRL_REGS;
+      *id = L3GD20H::CONFIGURE_CTRL_REGS;
      uint8_t command[5];
-      command[0] = l3gd20h::CTRL_REG_1_VAL;
-      command[1] = l3gd20h::CTRL_REG_2_VAL;
-      command[2] = l3gd20h::CTRL_REG_3_VAL;
-      command[3] = l3gd20h::CTRL_REG_4_VAL;
-      command[4] = l3gd20h::CTRL_REG_5_VAL;
+      command[0] = L3GD20H::CTRL_REG_1_VAL;
+      command[1] = L3GD20H::CTRL_REG_2_VAL;
+      command[2] = L3GD20H::CTRL_REG_3_VAL;
+      command[3] = L3GD20H::CTRL_REG_4_VAL;
+      command[4] = L3GD20H::CTRL_REG_5_VAL;
      return buildCommandFromCommand(*id, command, 5);
    }
    case (InternalState::CHECK_REGS): {
-      *id = l3gd20h::READ_REGS;
+      *id = L3GD20H::READ_REGS;
      return buildCommandFromCommand(*id, nullptr, 0);
    }
    default:
@ -70,13 +70,13 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
          "GyroL3GD20Handler::buildTransitionDeviceCommand: "
          "Unknown internal state!\n");
 #endif
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
-  *id = l3gd20h::READ_REGS;
+  *id = L3GD20H::READ_REGS;
  return buildCommandFromCommand(*id, nullptr, 0);
 }

@ -84,15 +84,15 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi
                                                          const uint8_t *commandData,
                                                          size_t commandDataLen) {
  switch (deviceCommand) {
-    case (l3gd20h::READ_REGS): {
-      commandBuffer[0] = l3gd20h::READ_START | l3gd20h::AUTO_INCREMENT_MASK | l3gd20h::READ_MASK;
-      std::memset(commandBuffer + 1, 0, l3gd20h::READ_LEN);
+    case (L3GD20H::READ_REGS): {
+      commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
+      std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
      rawPacket = commandBuffer;
-      rawPacketLen = l3gd20h::READ_LEN + 1;
+      rawPacketLen = L3GD20H::READ_LEN + 1;
      break;
    }
-    case (l3gd20h::CONFIGURE_CTRL_REGS): {
-      commandBuffer[0] = l3gd20h::CTRL_REG_1 | l3gd20h::AUTO_INCREMENT_MASK;
+    case (L3GD20H::CONFIGURE_CTRL_REGS): {
+      commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
      if (commandData == nullptr or commandDataLen != 5) {
        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
      }
@ -103,15 +103,15 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi
      ctrlReg4Value = commandData[3];
      ctrlReg5Value = commandData[4];

-      bool fsH = ctrlReg4Value & l3gd20h::SET_FS_1;
-      bool fsL = ctrlReg4Value & l3gd20h::SET_FS_0;
+      bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
+      bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;

      if (not fsH and not fsL) {
-        sensitivity = l3gd20h::SENSITIVITY_00;
+        sensitivity = L3GD20H::SENSITIVITY_00;
      } else if (not fsH and fsL) {
-        sensitivity = l3gd20h::SENSITIVITY_01;
+        sensitivity = L3GD20H::SENSITIVITY_01;
      } else {
-        sensitivity = l3gd20h::SENSITIVITY_11;
+        sensitivity = L3GD20H::SENSITIVITY_11;
      }

      commandBuffer[1] = ctrlReg1Value;
@ -124,8 +124,8 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi
      rawPacketLen = 6;
      break;
    }
-    case (l3gd20h::READ_CTRL_REGS): {
-      commandBuffer[0] = l3gd20h::READ_START | l3gd20h::AUTO_INCREMENT_MASK | l3gd20h::READ_MASK;
+    case (L3GD20H::READ_CTRL_REGS): {
+      commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;

      std::memset(commandBuffer + 1, 0, 5);
      rawPacket = commandBuffer;
@ -135,7 +135,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi
    default:
      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
@ -144,18 +144,18 @@ ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
  *foundId = this->getPendingCommand();
  *foundLen = this->rawPacketLen;

-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
                                                       const uint8_t *packet) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  switch (id) {
-    case (l3gd20h::CONFIGURE_CTRL_REGS): {
+    case (L3GD20H::CONFIGURE_CTRL_REGS): {
      commandExecuted = true;
      break;
    }
-    case (l3gd20h::READ_CTRL_REGS): {
+    case (L3GD20H::READ_CTRL_REGS): {
      if (packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
          packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
          packet[5] == ctrlReg5Value) {
@ -167,7 +167,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
      }
      break;
    }
-    case (l3gd20h::READ_REGS): {
+    case (L3GD20H::READ_REGS): {
      if (packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
          packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
          packet[5] != ctrlReg5Value) {
@ -178,16 +178,16 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
        }
      }

-      statusReg = packet[l3gd20h::STATUS_IDX];
+      statusReg = packet[L3GD20H::STATUS_IDX];

-      int16_t angVelocXRaw = packet[l3gd20h::OUT_X_H] << 8 | packet[l3gd20h::OUT_X_L];
-      int16_t angVelocYRaw = packet[l3gd20h::OUT_Y_H] << 8 | packet[l3gd20h::OUT_Y_L];
-      int16_t angVelocZRaw = packet[l3gd20h::OUT_Z_H] << 8 | packet[l3gd20h::OUT_Z_L];
+      int16_t angVelocXRaw = packet[L3GD20H::OUT_X_H] << 8 | packet[L3GD20H::OUT_X_L];
+      int16_t angVelocYRaw = packet[L3GD20H::OUT_Y_H] << 8 | packet[L3GD20H::OUT_Y_L];
+      int16_t angVelocZRaw = packet[L3GD20H::OUT_Z_H] << 8 | packet[L3GD20H::OUT_Z_L];
      float angVelocX = angVelocXRaw * sensitivity;
      float angVelocY = angVelocYRaw * sensitivity;
      float angVelocZ = angVelocZRaw * sensitivity;

-      int8_t temperaturOffset = (-1) * packet[l3gd20h::TEMPERATURE_IDX];
+      int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
      float temperature = 25.0 + temperaturOffset;
      if (periodicPrintout) {
        if (debugDivider.checkAndIncrement()) {
@ -207,7 +207,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
      }

      PoolReadGuard readSet(&dataset);
-      if (readSet.getReadResult() == returnvalue::OK) {
+      if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
        if (std::abs(angVelocX) < this->absLimitX) {
          dataset.angVelocX = angVelocX;
          dataset.angVelocX.setValid(true);
@ -248,19 +248,17 @@ void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) { this->goNormalModeIm

 ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                          LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(l3gd20h::ANG_VELOC_X, new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(l3gd20h::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(l3gd20h::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(l3gd20h::TEMPERATURE, new PoolEntry<float>({0.0}));
-  poolManager.subscribeForRegularPeriodicPacket(
-      subdp::RegularHkPeriodicParams(dataset.getSid(), false, 10.0));
-  return returnvalue::OK;
+  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
+  return HasReturnvaluesIF::RETURN_OK;
 }

 void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
-  insertInCommandAndReplyMap(l3gd20h::READ_REGS, 1, &dataset);
-  insertInCommandAndReplyMap(l3gd20h::CONFIGURE_CTRL_REGS, 1);
-  insertInCommandAndReplyMap(l3gd20h::READ_CTRL_REGS, 1);
+  insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
+  insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
+  insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
 }

 void GyroHandlerL3GD20H::modeChanged() { internalState = InternalState::NONE; }
--- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
+++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
@ -3,7 +3,8 @@

 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
-#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
+
+#include "devicedefinitions/GyroL3GD20Definitions.h"

 /**
 * @brief 	Device Handler for the L3GD20H gyroscope sensor
@ -58,9 +59,9 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
  uint32_t transitionDelayMs = 0;
  GyroPrimaryDataset dataset;

-  float absLimitX = l3gd20h::RANGE_DPS_00;
-  float absLimitY = l3gd20h::RANGE_DPS_00;
-  float absLimitZ = l3gd20h::RANGE_DPS_00;
+  float absLimitX = L3GD20H::RANGE_DPS_00;
+  float absLimitY = L3GD20H::RANGE_DPS_00;
+  float absLimitZ = L3GD20H::RANGE_DPS_00;

  enum class InternalState { NONE, CONFIGURE, CHECK_REGS, NORMAL };
  InternalState internalState = InternalState::NONE;
@ -69,16 +70,16 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
  uint8_t statusReg = 0;
  bool goNormalModeImmediately = false;

-  uint8_t ctrlReg1Value = l3gd20h::CTRL_REG_1_VAL;
-  uint8_t ctrlReg2Value = l3gd20h::CTRL_REG_2_VAL;
-  uint8_t ctrlReg3Value = l3gd20h::CTRL_REG_3_VAL;
-  uint8_t ctrlReg4Value = l3gd20h::CTRL_REG_4_VAL;
-  uint8_t ctrlReg5Value = l3gd20h::CTRL_REG_5_VAL;
+  uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
+  uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
+  uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL;
+  uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL;
+  uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL;

-  uint8_t commandBuffer[l3gd20h::READ_LEN + 1];
+  uint8_t commandBuffer[L3GD20H::READ_LEN + 1];

  // Set default value
-  float sensitivity = l3gd20h::SENSITIVITY_00;
+  float sensitivity = L3GD20H::SENSITIVITY_00;

  bool periodicPrintout = false;
  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
--- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
@ -10,11 +10,11 @@ MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCom
      dataset(this),
      transitionDelay(transitionDelay) {
  // Set to default values right away
-  registers[0] = mgmLis3::CTRL_REG1_DEFAULT;
-  registers[1] = mgmLis3::CTRL_REG2_DEFAULT;
-  registers[2] = mgmLis3::CTRL_REG3_DEFAULT;
-  registers[3] = mgmLis3::CTRL_REG4_DEFAULT;
-  registers[4] = mgmLis3::CTRL_REG5_DEFAULT;
+  registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
+  registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
+  registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
+  registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
+  registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
 }

 MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {}
@ -63,15 +63,15 @@ ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(DeviceCommandId_t
      return DeviceHandlerBase::NOTHING_TO_SEND;
    }
    case (InternalState::STATE_FIRST_CONTACT): {
-      *id = mgmLis3::IDENTIFY_DEVICE;
+      *id = MGMLIS3MDL::IDENTIFY_DEVICE;
      break;
    }
    case (InternalState::STATE_SETUP): {
-      *id = mgmLis3::SETUP_MGM;
+      *id = MGMLIS3MDL::SETUP_MGM;
      break;
    }
    case (InternalState::STATE_CHECK_REGISTERS): {
-      *id = mgmLis3::READ_CONFIG_AND_DATA;
+      *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
      break;
    }
    default: {
@ -82,18 +82,34 @@ ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(DeviceCommandId_t
 #else
      sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
    }
  }
  return buildCommandFromCommand(*id, NULL, 0);
 }

+uint8_t MgmLIS3MDLHandler::readCommand(uint8_t command, bool continuousCom) {
+  command |= (1 << MGMLIS3MDL::RW_BIT);
+  if (continuousCom == true) {
+    command |= (1 << MGMLIS3MDL::MS_BIT);
+  }
+  return command;
+}
+
+uint8_t MgmLIS3MDLHandler::writeCommand(uint8_t command, bool continuousCom) {
+  command &= ~(1 << MGMLIS3MDL::RW_BIT);
+  if (continuousCom == true) {
+    command |= (1 << MGMLIS3MDL::MS_BIT);
+  }
+  return command;
+}
+
 void MgmLIS3MDLHandler::setupMgm() {
-  registers[0] = mgmLis3::CTRL_REG1_DEFAULT;
-  registers[1] = mgmLis3::CTRL_REG2_DEFAULT;
-  registers[2] = mgmLis3::CTRL_REG3_DEFAULT;
-  registers[3] = mgmLis3::CTRL_REG4_DEFAULT;
-  registers[4] = mgmLis3::CTRL_REG5_DEFAULT;
+  registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
+  registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
+  registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
+  registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
+  registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;

  prepareCtrlRegisterWrite();
 }
@ -101,11 +117,11 @@ void MgmLIS3MDLHandler::setupMgm() {
 ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
  // Data/config register will be read in an alternating manner.
  if (communicationStep == CommunicationStep::DATA) {
-    *id = mgmLis3::READ_CONFIG_AND_DATA;
+    *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
    communicationStep = CommunicationStep::TEMPERATURE;
    return buildCommandFromCommand(*id, NULL, 0);
  } else {
-    *id = mgmLis3::READ_TEMPERATURE;
+    *id = MGMLIS3MDL::READ_TEMPERATURE;
    communicationStep = CommunicationStep::DATA;
    return buildCommandFromCommand(*id, NULL, 0);
  }
@ -115,58 +131,58 @@ ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t devic
                                                         const uint8_t *commandData,
                                                         size_t commandDataLen) {
  switch (deviceCommand) {
-    case (mgmLis3::READ_CONFIG_AND_DATA): {
+    case (MGMLIS3MDL::READ_CONFIG_AND_DATA): {
      std::memset(commandBuffer, 0, sizeof(commandBuffer));
-      commandBuffer[0] = mgmLis3::readCommand(mgmLis3::CTRL_REG1, true);
+      commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);

      rawPacket = commandBuffer;
-      rawPacketLen = mgmLis3::NR_OF_DATA_AND_CFG_REGISTERS + 1;
-      return returnvalue::OK;
+      rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
+      return RETURN_OK;
    }
-    case (mgmLis3::READ_TEMPERATURE): {
+    case (MGMLIS3MDL::READ_TEMPERATURE): {
      std::memset(commandBuffer, 0, 3);
-      commandBuffer[0] = mgmLis3::readCommand(mgmLis3::TEMP_LOWBYTE, true);
+      commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);

      rawPacket = commandBuffer;
      rawPacketLen = 3;
-      return returnvalue::OK;
+      return RETURN_OK;
    }
-    case (mgmLis3::IDENTIFY_DEVICE): {
+    case (MGMLIS3MDL::IDENTIFY_DEVICE): {
      return identifyDevice();
    }
-    case (mgmLis3::TEMP_SENSOR_ENABLE): {
+    case (MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
      return enableTemperatureSensor(commandData, commandDataLen);
    }
-    case (mgmLis3::SETUP_MGM): {
+    case (MGMLIS3MDL::SETUP_MGM): {
      setupMgm();
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
    }
-    case (mgmLis3::ACCURACY_OP_MODE_SET): {
+    case (MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
      return setOperatingMode(commandData, commandDataLen);
    }
    default:
      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
  }
-  return returnvalue::FAILED;
+  return HasReturnvaluesIF::RETURN_FAILED;
 }

 ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
  uint32_t size = 2;
-  commandBuffer[0] = mgmLis3::readCommand(mgmLis3::IDENTIFY_DEVICE_REG_ADDR);
+  commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
  commandBuffer[1] = 0x00;

  rawPacket = commandBuffer;
  rawPacketLen = size;

-  return returnvalue::OK;
+  return RETURN_OK;
 }

 ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
                                              DeviceCommandId_t *foundId, size_t *foundLen) {
  *foundLen = len;
-  if (len == mgmLis3::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
+  if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
    *foundLen = len;
-    *foundId = mgmLis3::READ_CONFIG_AND_DATA;
+    *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
    // Check validity by checking config registers
    if (start[1] != registers[0] or start[2] != registers[1] or start[3] != registers[2] or
        start[4] != registers[3] or start[5] != registers[4]) {
@ -179,21 +195,21 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
 #endif
      return DeviceHandlerIF::INVALID_DATA;
    }
-    if (getMode() == _MODE_START_UP) {
+    if (mode == _MODE_START_UP) {
      commandExecuted = true;
    }

-  } else if (len == mgmLis3::TEMPERATURE_REPLY_LEN) {
+  } else if (len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
    *foundLen = len;
-    *foundId = mgmLis3::READ_TEMPERATURE;
-  } else if (len == mgmLis3::SETUP_REPLY_LEN) {
+    *foundId = MGMLIS3MDL::READ_TEMPERATURE;
+  } else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
    *foundLen = len;
-    *foundId = mgmLis3::SETUP_MGM;
+    *foundId = MGMLIS3MDL::SETUP_MGM;
  } else if (len == SINGLE_COMMAND_ANSWER_LEN) {
    *foundLen = len;
    *foundId = getPendingCommand();
-    if (*foundId == mgmLis3::IDENTIFY_DEVICE) {
-      if (start[1] != mgmLis3::DEVICE_ID) {
+    if (*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
+      if (start[1] != MGMLIS3MDL::DEVICE_ID) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
@ -208,7 +224,7 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
        return DeviceHandlerIF::INVALID_DATA;
      }

-      if (getMode() == _MODE_START_UP) {
+      if (mode == _MODE_START_UP) {
        commandExecuted = true;
      }
    }
@ -218,38 +234,37 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,

  /* Data with SPI Interface always has this answer */
  if (start[0] == 0b11111111) {
-    return returnvalue::OK;
+    return RETURN_OK;
  } else {
    return DeviceHandlerIF::INVALID_DATA;
  }
 }
 ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
  switch (id) {
-    case mgmLis3::IDENTIFY_DEVICE: {
+    case MGMLIS3MDL::IDENTIFY_DEVICE: {
      break;
    }
-    case mgmLis3::SETUP_MGM: {
+    case MGMLIS3MDL::SETUP_MGM: {
      break;
    }
-    case mgmLis3::READ_CONFIG_AND_DATA: {
-      using namespace mgmLis3;
+    case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
      // TODO: Store configuration in new local datasets.
      float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));

      int16_t mgmMeasurementRawX =
-          packet[mgmLis3::X_HIGHBYTE_IDX] << 8 | packet[mgmLis3::X_LOWBYTE_IDX];
+          packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::X_LOWBYTE_IDX];
      int16_t mgmMeasurementRawY =
-          packet[mgmLis3::Y_HIGHBYTE_IDX] << 8 | packet[mgmLis3::Y_LOWBYTE_IDX];
+          packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Y_LOWBYTE_IDX];
      int16_t mgmMeasurementRawZ =
-          packet[mgmLis3::Z_HIGHBYTE_IDX] << 8 | packet[mgmLis3::Z_LOWBYTE_IDX];
+          packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Z_LOWBYTE_IDX];

      // Target value in microtesla
      float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor *
-                   mgmLis3::GAUSS_TO_MICROTESLA_FACTOR;
+                   MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
      float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor *
-                   mgmLis3::GAUSS_TO_MICROTESLA_FACTOR;
+                   MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
      float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor *
-                   mgmLis3::GAUSS_TO_MICROTESLA_FACTOR;
+                   MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;

      if (periodicPrintout) {
        if (debugDivider.checkAndIncrement()) {
@ -270,28 +285,32 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
      }

      PoolReadGuard readHelper(&dataset);
-      if (readHelper.getReadResult() == returnvalue::OK) {
-        if (std::abs(mgmX) > absLimitX or std::abs(mgmY) > absLimitY or
-            std::abs(mgmZ) > absLimitZ) {
-          dataset.fieldStrengths.setValid(false);
-        }
+      if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
        if (std::abs(mgmX) < absLimitX) {
-          dataset.fieldStrengths[0] = mgmX;
+          dataset.fieldStrengthX = mgmX;
+          dataset.fieldStrengthX.setValid(true);
+        } else {
+          dataset.fieldStrengthX.setValid(false);
        }

        if (std::abs(mgmY) < absLimitY) {
-          dataset.fieldStrengths[1] = mgmY;
+          dataset.fieldStrengthY = mgmY;
+          dataset.fieldStrengthY.setValid(true);
+        } else {
+          dataset.fieldStrengthY.setValid(false);
        }

        if (std::abs(mgmZ) < absLimitZ) {
-          dataset.fieldStrengths[2] = mgmZ;
+          dataset.fieldStrengthZ = mgmZ;
+          dataset.fieldStrengthZ.setValid(true);
+        } else {
+          dataset.fieldStrengthZ.setValid(false);
        }
-        dataset.fieldStrengths.setValid(true);
      }
      break;
    }

-    case mgmLis3::READ_TEMPERATURE: {
+    case MGMLIS3MDL::READ_TEMPERATURE: {
      int16_t tempValueRaw = packet[2] << 8 | packet[1];
      float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
      if (periodicPrintout) {
@ -305,7 +324,7 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
      }

      ReturnValue_t result = dataset.read();
-      if (result == returnvalue::OK) {
+      if (result == HasReturnvaluesIF::RETURN_OK) {
        dataset.temperature = tempValue;
        dataset.commit();
      }
@ -316,7 +335,42 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
      return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
    }
  }
-  return returnvalue::OK;
+  return RETURN_OK;
+}
+
+MGMLIS3MDL::Sensitivies MgmLIS3MDLHandler::getSensitivity(uint8_t ctrlRegister2) {
+  bool fs0Set = ctrlRegister2 & (1 << MGMLIS3MDL::FSO);  // Checks if FS0 bit is set
+  bool fs1Set = ctrlRegister2 & (1 << MGMLIS3MDL::FS1);  // Checks if FS1 bit is set
+
+  if (fs0Set && fs1Set)
+    return MGMLIS3MDL::Sensitivies::GAUSS_16;
+  else if (!fs0Set && fs1Set)
+    return MGMLIS3MDL::Sensitivies::GAUSS_12;
+  else if (fs0Set && !fs1Set)
+    return MGMLIS3MDL::Sensitivies::GAUSS_8;
+  else
+    return MGMLIS3MDL::Sensitivies::GAUSS_4;
+}
+
+float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
+  switch (sens) {
+    case (MGMLIS3MDL::GAUSS_4): {
+      return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
+    }
+    case (MGMLIS3MDL::GAUSS_8): {
+      return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
+    }
+    case (MGMLIS3MDL::GAUSS_12): {
+      return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
+    }
+    case (MGMLIS3MDL::GAUSS_16): {
+      return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
+    }
+    default: {
+      // Should never happen
+      return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
+    }
+  }
 }

 ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandData,
@ -326,16 +380,16 @@ ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandD
  }
  triggerEvent(CHANGE_OF_SETUP_PARAMETER);
  uint32_t size = 2;
-  commandBuffer[0] = mgmLis3::writeCommand(mgmLis3::CTRL_REG1);
+  commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
  if (commandDataLen > 1) {
    return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
  }
  switch (commandData[0]) {
-    case (mgmLis3::ON): {
+    case (MGMLIS3MDL::ON): {
      commandBuffer[1] = registers[0] | (1 << 7);
      break;
    }
-    case (mgmLis3::OFF): {
+    case (MGMLIS3MDL::OFF): {
      commandBuffer[1] = registers[0] & ~(1 << 7);
      break;
    }
@ -347,7 +401,7 @@ ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandD
  rawPacket = commandBuffer;
  rawPacketLen = size;

-  return returnvalue::OK;
+  return RETURN_OK;
 }

 ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
@ -358,23 +412,23 @@ ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
  }

  switch (commandData[0]) {
-    case mgmLis3::LOW:
-      registers[0] = (registers[0] & (~(1 << mgmLis3::OM1))) & (~(1 << mgmLis3::OM0));
-      registers[3] = (registers[3] & (~(1 << mgmLis3::OMZ1))) & (~(1 << mgmLis3::OMZ0));
+    case MGMLIS3MDL::LOW:
+      registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
+      registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
      break;
-    case mgmLis3::MEDIUM:
-      registers[0] = (registers[0] & (~(1 << mgmLis3::OM1))) | (1 << mgmLis3::OM0);
-      registers[3] = (registers[3] & (~(1 << mgmLis3::OMZ1))) | (1 << mgmLis3::OMZ0);
+    case MGMLIS3MDL::MEDIUM:
+      registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
+      registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
      break;

-    case mgmLis3::HIGH:
-      registers[0] = (registers[0] | (1 << mgmLis3::OM1)) & (~(1 << mgmLis3::OM0));
-      registers[3] = (registers[3] | (1 << mgmLis3::OMZ1)) & (~(1 << mgmLis3::OMZ0));
+    case MGMLIS3MDL::HIGH:
+      registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
+      registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
      break;

-    case mgmLis3::ULTRA:
-      registers[0] = (registers[0] | (1 << mgmLis3::OM1)) | (1 << mgmLis3::OM0);
-      registers[3] = (registers[3] | (1 << mgmLis3::OMZ1)) | (1 << mgmLis3::OMZ0);
+    case MGMLIS3MDL::ULTRA:
+      registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
+      registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
      break;
    default:
      break;
@ -384,27 +438,27 @@ ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
 }

 void MgmLIS3MDLHandler::fillCommandAndReplyMap() {
-  insertInCommandAndReplyMap(mgmLis3::READ_CONFIG_AND_DATA, 1, &dataset);
-  insertInCommandAndReplyMap(mgmLis3::READ_TEMPERATURE, 1);
-  insertInCommandAndReplyMap(mgmLis3::SETUP_MGM, 1);
-  insertInCommandAndReplyMap(mgmLis3::IDENTIFY_DEVICE, 1);
-  insertInCommandAndReplyMap(mgmLis3::TEMP_SENSOR_ENABLE, 1);
-  insertInCommandAndReplyMap(mgmLis3::ACCURACY_OP_MODE_SET, 1);
+  insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
+  insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
+  insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
+  insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
+  insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
+  insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
 }

 void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) { this->goToNormalMode = enable; }

 ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
-  commandBuffer[0] = mgmLis3::writeCommand(mgmLis3::CTRL_REG1, true);
+  commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);

-  for (size_t i = 0; i < mgmLis3::NR_OF_CTRL_REGISTERS; i++) {
+  for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
    commandBuffer[i + 1] = registers[i];
  }
  rawPacket = commandBuffer;
-  rawPacketLen = mgmLis3::NR_OF_CTRL_REGISTERS + 1;
+  rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;

  // We dont have to check if this is working because we just did i
-  return returnvalue::OK;
+  return RETURN_OK;
 }

 void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
@ -417,10 +471,11 @@ void MgmLIS3MDLHandler::modeChanged(void) { internalState = InternalState::STATE

 ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                         LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(mgmLis3::FIELD_STRENGTHS, &mgmXYZ);
-  localDataPoolMap.emplace(mgmLis3::TEMPERATURE_CELCIUS, &temperature);
-  poolManager.subscribeForRegularPeriodicPacket({dataset.getSid(), false, 10.0});
-  return returnvalue::OK;
+  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
+  return HasReturnvaluesIF::RETURN_OK;
 }

 void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLimit) {
--- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
+++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
@ -1,8 +1,8 @@
 #ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
 #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_

-#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
-
+#include "devicedefinitions/MgmLIS3HandlerDefs.h"
+#include "events/subsystemIdRanges.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"

@ -67,7 +67,7 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
                                        LocalDataPoolManager &poolManager) override;

 private:
-  mgmLis3::MgmPrimaryDataset dataset;
+  MGMLIS3MDL::MgmPrimaryDataset dataset;
  // Length a single command SPI answer
  static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;

@ -75,7 +75,7 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
  // Single SPI command has 2 bytes, first for adress, second for content
  size_t singleComandSize = 2;
  // Has the size for all adresses of the lis3mdl + the continous write bit
-  uint8_t commandBuffer[mgmLis3::NR_OF_DATA_AND_CFG_REGISTERS + 1];
+  uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];

  float absLimitX = 100;
  float absLimitY = 100;
@ -86,7 +86,7 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
   * registers when we want to change something.
   * --> everytime we change set a register we have to save it
   */
-  uint8_t registers[mgmLis3::NR_OF_CTRL_REGISTERS];
+  uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];

  uint8_t statusRegister = 0;
  bool goToNormalMode = false;
@ -103,11 +103,38 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
  CommunicationStep communicationStep = CommunicationStep::DATA;
  bool commandExecuted = false;

-  PoolEntry<float> mgmXYZ = PoolEntry<float>(3);
-  PoolEntry<float> temperature = PoolEntry<float>();
  /*------------------------------------------------------------------------*/
  /* Device specific commands and variables */
  /*------------------------------------------------------------------------*/
+  /**
+   * Sets the read bit for the command
+   * @param single command to set the read-bit at
+   * @param boolean to select a continuous read bit, default = false
+   */
+  uint8_t readCommand(uint8_t command, bool continuousCom = false);
+
+  /**
+   * Sets the write bit for the command
+   * @param single command to set the write-bit at
+   * @param boolean to select a continuous write bit, default = false
+   */
+  uint8_t writeCommand(uint8_t command, bool continuousCom = false);
+
+  /**
+   * This Method gets the full scale for the measurement range
+   * e.g.: +- 4 gauss. See p.25 datasheet.
+   *  @return The ReturnValue does not contain the sign of the value
+   */
+  MGMLIS3MDL::Sensitivies getSensitivity(uint8_t ctrlReg2);
+
+  /**
+   * The 16 bit value needs to be multiplied with a sensitivity factor
+   * which depends on the sensitivity configuration
+   *
+   * @param sens Configured sensitivity of the LIS3 device
+   * @return Multiplication factor to get the sensor value from raw data.
+   */
+  float getSensitivityFactor(MGMLIS3MDL::Sensitivies sens);

  /**
   * This Command detects the device ID
--- a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
@ -4,7 +4,7 @@
 #include "fsfw/devicehandlers/DeviceHandlerMessage.h"
 #include "fsfw/globalfunctions/bitutility.h"
 #include "fsfw/objectmanager/SystemObjectIF.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"

 MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
                                   CookieIF *comCookie, uint32_t transitionDelay)
@ -63,21 +63,21 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(DeviceCommandId_t *
      return NOTHING_TO_SEND;
    }
    case (InternalState::CONFIGURE_CMM): {
-      *id = mgmRm3100::CONFIGURE_CMM;
+      *id = RM3100::CONFIGURE_CMM;
      break;
    }
    case (InternalState::READ_CMM): {
-      *id = mgmRm3100::READ_CMM;
+      *id = RM3100::READ_CMM;
      break;
    }
    case (InternalState::STATE_CONFIGURE_TMRC): {
-      commandBuffer[0] = mgmRm3100::TMRC_DEFAULT_VALUE;
+      commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE;
      commandLen = 1;
-      *id = mgmRm3100::CONFIGURE_TMRC;
+      *id = RM3100::CONFIGURE_TMRC;
      break;
    }
    case (InternalState::STATE_READ_TMRC): {
-      *id = mgmRm3100::READ_TMRC;
+      *id = RM3100::READ_TMRC;
      break;
    }
    default:
@ -93,7 +93,7 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(DeviceCommandId_t *
          "Unknown internal state\n");
 #endif
 #endif
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
  }

  return buildCommandFromCommand(*id, commandBuffer, commandLen);
@ -103,42 +103,42 @@ ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t device
                                                        const uint8_t *commandData,
                                                        size_t commandDataLen) {
  switch (deviceCommand) {
-    case (mgmRm3100::CONFIGURE_CMM): {
-      commandBuffer[0] = mgmRm3100::CMM_REGISTER;
-      commandBuffer[1] = mgmRm3100::CMM_VALUE;
+    case (RM3100::CONFIGURE_CMM): {
+      commandBuffer[0] = RM3100::CMM_REGISTER;
+      commandBuffer[1] = RM3100::CMM_VALUE;
      rawPacket = commandBuffer;
      rawPacketLen = 2;
      break;
    }
-    case (mgmRm3100::READ_CMM): {
-      commandBuffer[0] = mgmRm3100::CMM_REGISTER | mgmRm3100::READ_MASK;
+    case (RM3100::READ_CMM): {
+      commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
      commandBuffer[1] = 0;
      rawPacket = commandBuffer;
      rawPacketLen = 2;
      break;
    }
-    case (mgmRm3100::CONFIGURE_TMRC): {
+    case (RM3100::CONFIGURE_TMRC): {
      return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen);
    }
-    case (mgmRm3100::READ_TMRC): {
-      commandBuffer[0] = mgmRm3100::TMRC_REGISTER | mgmRm3100::READ_MASK;
+    case (RM3100::READ_TMRC): {
+      commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
      commandBuffer[1] = 0;
      rawPacket = commandBuffer;
      rawPacketLen = 2;
      break;
    }
-    case (mgmRm3100::CONFIGURE_CYCLE_COUNT): {
+    case (RM3100::CONFIGURE_CYCLE_COUNT): {
      return handleCycleCountConfigCommand(deviceCommand, commandData, commandDataLen);
    }
-    case (mgmRm3100::READ_CYCLE_COUNT): {
-      commandBuffer[0] = mgmRm3100::CYCLE_COUNT_START_REGISTER | mgmRm3100::READ_MASK;
+    case (RM3100::READ_CYCLE_COUNT): {
+      commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
      std::memset(commandBuffer + 1, 0, 6);
      rawPacket = commandBuffer;
      rawPacketLen = 7;
      break;
    }
-    case (mgmRm3100::READ_DATA): {
-      commandBuffer[0] = mgmRm3100::MEASUREMENT_REG_START | mgmRm3100::READ_MASK;
+    case (RM3100::READ_DATA): {
+      commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
      std::memset(commandBuffer + 1, 0, 9);
      rawPacketLen = 10;
      break;
@ -146,11 +146,11 @@ ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t device
    default:
      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
  }
-  return returnvalue::OK;
+  return RETURN_OK;
 }

 ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
-  *id = mgmRm3100::READ_DATA;
+  *id = RM3100::READ_DATA;
  return buildCommandFromCommand(*id, nullptr, 0);
 }

@ -159,22 +159,22 @@ ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start, size_t len,
  // For SPI, ID will always be the one of the last sent command
  *foundId = this->getPendingCommand();
  *foundLen = len;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  switch (id) {
-    case (mgmRm3100::CONFIGURE_CMM):
-    case (mgmRm3100::CONFIGURE_CYCLE_COUNT):
-    case (mgmRm3100::CONFIGURE_TMRC): {
+    case (RM3100::CONFIGURE_CMM):
+    case (RM3100::CONFIGURE_CYCLE_COUNT):
+    case (RM3100::CONFIGURE_TMRC): {
      // We can only check whether write was successful with read operation
-      if (getMode() == _MODE_START_UP) {
+      if (mode == _MODE_START_UP) {
        commandExecuted = true;
      }
      break;
    }
-    case (mgmRm3100::READ_CMM): {
+    case (RM3100::READ_CMM): {
      uint8_t cmmValue = packet[1];
      // We clear the seventh bit in any case
      // because this one is zero sometimes for some reason
@ -188,11 +188,11 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
      }
      break;
    }
-    case (mgmRm3100::READ_TMRC): {
+    case (RM3100::READ_TMRC): {
      if (packet[1] == tmrcRegValue) {
        commandExecuted = true;
        // Reading TMRC was commanded. Trigger event to inform ground
-        if (getMode() != _MODE_START_UP) {
+        if (mode != _MODE_START_UP) {
          triggerEvent(tmrcSet, tmrcRegValue, 0);
        }
      } else {
@ -202,7 +202,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
      }
      break;
    }
-    case (mgmRm3100::READ_CYCLE_COUNT): {
+    case (RM3100::READ_CYCLE_COUNT): {
      uint16_t cycleCountX = packet[1] << 8 | packet[2];
      uint16_t cycleCountY = packet[3] << 8 | packet[4];
      uint16_t cycleCountZ = packet[5] << 8 | packet[6];
@ -211,13 +211,13 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
        return DeviceHandlerIF::DEVICE_REPLY_INVALID;
      }
      // Reading TMRC was commanded. Trigger event to inform ground
-      if (getMode() != _MODE_START_UP) {
+      if (mode != _MODE_START_UP) {
        uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
        triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
      }
      break;
    }
-    case (mgmRm3100::READ_DATA): {
+    case (RM3100::READ_DATA): {
      result = handleDataReadout(packet);
      break;
    }
@ -244,21 +244,21 @@ ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t
    return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
  }

-  commandBuffer[0] = mgmRm3100::CYCLE_COUNT_VALUE;
+  commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
  std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
  std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
  std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
  rawPacketLen = 7;
  rawPacket = commandBuffer;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
                                                   size_t commandDataLen) {
-  mgmRm3100::CycleCountCommand command(oneCycleValue);
+  RM3100::CycleCountCommand command(oneCycleValue);
  ReturnValue_t result =
      command.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }

@ -274,7 +274,7 @@ ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, const uin
  cycleCountRegValueX = command.cycleCountX;
  cycleCountRegValueY = command.cycleCountY;
  cycleCountRegValueZ = command.cycleCountZ;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
@ -284,34 +284,35 @@ ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t device
    return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
  }

-  commandBuffer[0] = mgmRm3100::TMRC_REGISTER;
+  commandBuffer[0] = RM3100::TMRC_REGISTER;
  commandBuffer[1] = commandData[0];
  tmrcRegValue = commandData[0];
  rawPacketLen = 2;
  rawPacket = commandBuffer;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 void MgmRM3100Handler::fillCommandAndReplyMap() {
-  insertInCommandAndReplyMap(mgmRm3100::CONFIGURE_CMM, 3);
-  insertInCommandAndReplyMap(mgmRm3100::READ_CMM, 3);
+  insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 3);
+  insertInCommandAndReplyMap(RM3100::READ_CMM, 3);

-  insertInCommandAndReplyMap(mgmRm3100::CONFIGURE_TMRC, 3);
-  insertInCommandAndReplyMap(mgmRm3100::READ_TMRC, 3);
+  insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 3);
+  insertInCommandAndReplyMap(RM3100::READ_TMRC, 3);

-  insertInCommandAndReplyMap(mgmRm3100::CONFIGURE_CYCLE_COUNT, 3);
-  insertInCommandAndReplyMap(mgmRm3100::READ_CYCLE_COUNT, 3);
+  insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 3);
+  insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 3);

-  insertInCommandAndReplyMap(mgmRm3100::READ_DATA, 3, &primaryDataset);
+  insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
 }

-void MgmRM3100Handler::modeChanged() { internalState = InternalState::NONE; }
+void MgmRM3100Handler::modeChanged(void) { internalState = InternalState::NONE; }

 ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                        LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(mgmRm3100::FIELD_STRENGTHS, &mgmXYZ);
-  poolManager.subscribeForRegularPeriodicPacket({primaryDataset.getSid(), false, 10.0});
-  return returnvalue::OK;
+  localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
+  return HasReturnvaluesIF::RETURN_OK;
 }

 uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
@ -325,12 +326,12 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
  // trickery here to calculate the raw values first
  int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
  int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
-  int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[9] << 8)) >> 8;
+  int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;

  // Now scale to physical value in microtesla
  float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
-  float fieldStrengthY = fieldStrengthRawY * scaleFactorY;
-  float fieldStrengthZ = fieldStrengthRawZ * scaleFactorZ;
+  float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
+  float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;

  if (periodicPrintout) {
    if (debugDivider.checkAndIncrement()) {
@ -352,13 +353,13 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {

  // TODO: Sanity check on values?
  PoolReadGuard readGuard(&primaryDataset);
-  if (readGuard.getReadResult() == returnvalue::OK) {
-    primaryDataset.fieldStrengths[0] = fieldStrengthX;
-    primaryDataset.fieldStrengths[1] = fieldStrengthY;
-    primaryDataset.fieldStrengths[2] = fieldStrengthZ;
+  if (readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+    primaryDataset.fieldStrengthX = fieldStrengthX;
+    primaryDataset.fieldStrengthY = fieldStrengthY;
+    primaryDataset.fieldStrengthZ = fieldStrengthZ;
    primaryDataset.setValidity(true, true);
  }
-  return returnvalue::OK;
+  return RETURN_OK;
 }

 void MgmRM3100Handler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
--- a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
+++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
@ -1,8 +1,7 @@
 #ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
 #define MISSION_DEVICES_MGMRM3100HANDLER_H_

-#include <fsfw_hal/devicehandlers/devicedefinitions/mgmRm3100Helpers.h>
-
+#include "devicedefinitions/MgmRM3100HandlerDefs.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"

@ -70,23 +69,22 @@ class MgmRM3100Handler : public DeviceHandlerBase {
  };
  InternalState internalState = InternalState::NONE;
  bool commandExecuted = false;
-  mgmRm3100::Rm3100PrimaryDataset primaryDataset;
+  RM3100::Rm3100PrimaryDataset primaryDataset;

  uint8_t commandBuffer[10];
  uint8_t commandBufferLen = 0;

-  uint8_t cmmRegValue = mgmRm3100::CMM_VALUE;
-  uint8_t tmrcRegValue = mgmRm3100::TMRC_DEFAULT_VALUE;
-  uint16_t cycleCountRegValueX = mgmRm3100::CYCLE_COUNT_VALUE;
-  uint16_t cycleCountRegValueY = mgmRm3100::CYCLE_COUNT_VALUE;
-  uint16_t cycleCountRegValueZ = mgmRm3100::CYCLE_COUNT_VALUE;
-  float scaleFactorX = 1.0 / mgmRm3100::DEFAULT_GAIN;
-  float scaleFactorY = 1.0 / mgmRm3100::DEFAULT_GAIN;
-  float scaleFactorZ = 1.0 / mgmRm3100::DEFAULT_GAIN;
+  uint8_t cmmRegValue = RM3100::CMM_VALUE;
+  uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE;
+  uint16_t cycleCountRegValueX = RM3100::CYCLE_COUNT_VALUE;
+  uint16_t cycleCountRegValueY = RM3100::CYCLE_COUNT_VALUE;
+  uint16_t cycleCountRegValueZ = RM3100::CYCLE_COUNT_VALUE;
+  float scaleFactorX = 1.0 / RM3100::DEFAULT_GAIN;
+  float scaleFactorY = 1.0 / RM3100::DEFAULT_GAIN;
+  float scaleFactorZ = 1.0 / RM3100::DEFAULT_GAIN;

  bool goToNormalModeAtStartup = false;
  uint32_t transitionDelay;
-  PoolEntry<float> mgmXYZ = PoolEntry<float>(3);

  ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
                                              const uint8_t *commandData, size_t commandDataLen);
--- a/hal/src/fsfw_hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h
+++ b/hal/src/fsfw_hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h
@ -6,9 +6,7 @@

 #include <cstdint>

-namespace l3gd20h {
-
-float ctrlReg4ToSensitivity(uint8_t reg);
+namespace L3GD20H {

 /* Actual size is 15 but we round up a bit */
 static constexpr size_t MAX_BUFFER_SIZE = 16;
@ -73,10 +71,8 @@ static constexpr uint8_t CTRL_REG_4_VAL = SET_BLE;
 /* Register 5 */
 static constexpr uint8_t SET_REBOOT_MEM = 1 << 7;
 static constexpr uint8_t SET_FIFO_ENB = 1 << 6;
-static constexpr uint8_t SET_OUT_SEL_1 = 1 << 1;
-static constexpr uint8_t SET_OUT_SEL_0 = 1 << 0;

-static constexpr uint8_t CTRL_REG_5_VAL = SET_OUT_SEL_1 | SET_OUT_SEL_0;
+static constexpr uint8_t CTRL_REG_5_VAL = 0b00000000;

 /* Possible range values in degrees per second (DPS). */
 static constexpr uint16_t RANGE_DPS_00 = 245;
@ -107,33 +103,31 @@ static constexpr DeviceCommandId_t READ_REGS = 0;
 static constexpr DeviceCommandId_t CONFIGURE_CTRL_REGS = 1;
 static constexpr DeviceCommandId_t READ_CTRL_REGS = 2;

-static constexpr DeviceCommandId_t REQUEST = 0x70;
-static constexpr DeviceCommandId_t REPLY = 0x77;
-
 static constexpr uint32_t GYRO_DATASET_ID = READ_REGS;

 enum GyroPoolIds : lp_id_t { ANG_VELOC_X, ANG_VELOC_Y, ANG_VELOC_Z, TEMPERATURE };

-}  // namespace l3gd20h
+}  // namespace L3GD20H

 class GyroPrimaryDataset : public StaticLocalDataSet<5> {
 public:
  /** Constructor  for data users like controllers */
  GyroPrimaryDataset(object_id_t mgmId)
-      : StaticLocalDataSet(sid_t(mgmId, l3gd20h::GYRO_DATASET_ID)) {
+      : StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
    setAllVariablesReadOnly();
  }
-  /** Constructor  for the data creator */
-  GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
-      : StaticLocalDataSet(hkOwner, l3gd20h::GYRO_DATASET_ID) {}

  /* Angular velocities in degrees per second (DPS) */
-  lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId, l3gd20h::ANG_VELOC_X, this);
-  lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId, l3gd20h::ANG_VELOC_Y, this);
-  lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId, l3gd20h::ANG_VELOC_Z, this);
-  lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, l3gd20h::TEMPERATURE, this);
+  lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_X, this);
+  lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Y, this);
+  lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Z, this);
+  lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, L3GD20H::TEMPERATURE, this);

 private:
+  friend class GyroHandlerL3GD20H;
+  /** Constructor  for the data creator */
+  GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
+      : StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
 };

 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */
--- a/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h
+++ b/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h
@ -7,43 +7,13 @@

 #include <cstdint>

-namespace mgmLis3 {
+namespace MGMLIS3MDL {

 enum Set { ON, OFF };
 enum OpMode { LOW, MEDIUM, HIGH, ULTRA };

 enum Sensitivies : uint8_t { GAUSS_4 = 4, GAUSS_8 = 8, GAUSS_12 = 12, GAUSS_16 = 16 };

-/**
- * Sets the read bit for the command
- * @param single command to set the read-bit at
- * @param boolean to select a continuous read bit, default = false
- */
-uint8_t readCommand(uint8_t command, bool continuousCom = false);
-
-/**
- * Sets the write bit for the command
- * @param single command to set the write-bit at
- * @param boolean to select a continuous write bit, default = false
- */
-uint8_t writeCommand(uint8_t command, bool continuousCom = false);
-
-/**
- * This Method gets the full scale for the measurement range
- * e.g.: +- 4 gauss. See p.25 datasheet.
- *  @return The ReturnValue does not contain the sign of the value
- */
-mgmLis3::Sensitivies getSensitivity(uint8_t ctrlReg2);
-
-/**
- * The 16 bit value needs to be multiplied with a sensitivity factor
- * which depends on the sensitivity configuration
- *
- * @param sens Configured sensitivity of the LIS3 device
- * @return Multiplication factor to get the sensor value from raw data.
- */
-float getSensitivityFactor(mgmLis3::Sensitivies sens);
-
 /* Actually 15, we just round up a bit */
 static constexpr size_t MAX_BUFFER_SIZE = 16;

@ -169,7 +139,12 @@ static const uint8_t CTRL_REG5_DEFAULT = 0;

 static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA;

-enum MgmPoolIds : lp_id_t { FIELD_STRENGTHS, TEMPERATURE_CELCIUS };
+enum MgmPoolIds : lp_id_t {
+  FIELD_STRENGTH_X,
+  FIELD_STRENGTH_Y,
+  FIELD_STRENGTH_Z,
+  TEMPERATURE_CELCIUS
+};

 class MgmPrimaryDataset : public StaticLocalDataSet<4> {
 public:
@ -177,13 +152,12 @@ class MgmPrimaryDataset : public StaticLocalDataSet<4> {

  MgmPrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}

-  /**
-   * Field strenghts in uT
-   */
-  lp_vec_t<float, 3> fieldStrengths = lp_vec_t<float, 3>(sid.objectId, FIELD_STRENGTHS, this);
+  lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
+  lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
+  lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
  lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, TEMPERATURE_CELCIUS, this);
 };

-}  // namespace mgmLis3
+}  // namespace MGMLIS3MDL

 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ */
--- a/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h
+++ b/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h
@ -8,7 +8,7 @@

 #include <cstdint>

-namespace mgmRm3100 {
+namespace RM3100 {

 /* Actually 10, we round up a little bit */
 static constexpr size_t MAX_BUFFER_SIZE = 12;
@ -101,7 +101,11 @@ class CycleCountCommand : public SerialLinkedListAdapter<SerializeIF> {

 static constexpr uint32_t MGM_DATASET_ID = READ_DATA;

-enum MgmPoolIds : lp_id_t { FIELD_STRENGTHS };
+enum MgmPoolIds : lp_id_t {
+  FIELD_STRENGTH_X,
+  FIELD_STRENGTH_Y,
+  FIELD_STRENGTH_Z,
+};

 class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
 public:
@ -109,12 +113,12 @@ class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {

  Rm3100PrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}

-  /**
-   * Field strenghts in uT
-   */
-  lp_vec_t<float, 3> fieldStrengths = lp_vec_t<float, 3>(sid.objectId, FIELD_STRENGTHS, this);
+  // Field strengths in micro Tesla.
+  lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
+  lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
+  lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
 };

-}  // namespace mgmRm3100
+}  // namespace RM3100

 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */
--- a/hal/src/fsfw_hal/host/CMakeLists.txt
+++ b/hal/src/fsfw_hal/host/CMakeLists.txt
@ -0,0 +1 @@
+
--- a/hal/src/fsfw_hal/linux/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/CMakeLists.txt
@ -0,0 +1,25 @@
+if(FSFW_HAL_ADD_RASPBERRY_PI)
+    add_subdirectory(rpi)
+endif()
+
+target_sources(${LIB_FSFW_NAME} PRIVATE
+	UnixFileGuard.cpp
+	CommandExecutor.cpp
+	utility.cpp
+)
+
+if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
+if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
+	add_subdirectory(gpio)
+endif()
+	add_subdirectory(uart)
+	# Adding those does not really make sense on Apple systems which
+	# are generally host systems. It won't even compile as the headers
+	# are missing
+	if(NOT APPLE)
+		add_subdirectory(i2c)
+		add_subdirectory(spi)
+	endif()
+endif()
+
+add_subdirectory(uio)
--- a/hal/src/fsfw_hal/linux/CommandExecutor.cpp
+++ b/hal/src/fsfw_hal/linux/CommandExecutor.cpp
@ -17,13 +17,13 @@ ReturnValue_t CommandExecutor::load(std::string command, bool blocking, bool pri
    return COMMAND_PENDING;
  }

-  currentCmd = std::move(command);
+  currentCmd = command;
  this->blocking = blocking;
  this->printOutput = printOutput;
  if (state == States::IDLE) {
    state = States::COMMAND_LOADED;
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t CommandExecutor::execute() {
@ -32,12 +32,10 @@ ReturnValue_t CommandExecutor::execute() {
  } else if (state == States::PENDING) {
    return COMMAND_PENDING;
  }
-  // Reset data in read vector
-  std::memset(readVec.data(), 0, readVec.size());
  currentCmdFile = popen(currentCmd.c_str(), "r");
  if (currentCmdFile == nullptr) {
    lastError = errno;
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  if (blocking) {
    ReturnValue_t result = executeBlocking();
@ -48,7 +46,7 @@ ReturnValue_t CommandExecutor::execute() {
    waiter.fd = currentFd;
  }
  state = States::PENDING;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t CommandExecutor::close() {
@ -58,7 +56,7 @@ ReturnValue_t CommandExecutor::close() {
      pclose(currentCmdFile);
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 void CommandExecutor::printLastError(std::string funcName) const {
@ -81,7 +79,7 @@ void CommandExecutor::setRingBuffer(SimpleRingBuffer* ringBuffer,

 ReturnValue_t CommandExecutor::check(bool& replyReceived) {
  if (blocking) {
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
  }
  switch (state) {
    case (States::IDLE):
@ -96,7 +94,7 @@ ReturnValue_t CommandExecutor::check(bool& replyReceived) {
  int result = poll(&waiter, 1, 0);
  switch (result) {
    case (0): {
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
      break;
    }
    case (1): {
@ -153,7 +151,7 @@ ReturnValue_t CommandExecutor::check(bool& replyReceived) {
        ReturnValue_t retval = EXECUTION_FINISHED;
        if (result != 0) {
          lastError = result;
-          retval = returnvalue::FAILED;
+          retval = HasReturnvaluesIF::RETURN_FAILED;
        }
        state = States::IDLE;
        currentCmdFile = nullptr;
@ -163,7 +161,7 @@ ReturnValue_t CommandExecutor::check(bool& replyReceived) {
      break;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 void CommandExecutor::reset() {
@ -203,9 +201,7 @@ ReturnValue_t CommandExecutor::executeBlocking() {
  int result = pclose(currentCmdFile);
  if (result != 0) {
    lastError = result;
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
-
-const std::vector<char>& CommandExecutor::getReadVector() const { return readVec; }
--- a/hal/src/fsfw_hal/linux/CommandExecutor.h
+++ b/hal/src/fsfw_hal/linux/CommandExecutor.h
@ -7,7 +7,7 @@
 #include <vector>

 #include "fsfw/returnvalues/FwClassIds.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"

 class SimpleRingBuffer;
 template <typename T>
@ -31,25 +31,27 @@ class CommandExecutor {
  static constexpr uint8_t CLASS_ID = CLASS_ID::LINUX_OSAL;

  //! [EXPORT] : [COMMENT] Execution of the current command has finished
-  static constexpr ReturnValue_t EXECUTION_FINISHED = returnvalue::makeCode(CLASS_ID, 0);
+  static constexpr ReturnValue_t EXECUTION_FINISHED =
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);

  //! [EXPORT] : [COMMENT] Command is pending. This will also be returned if the user tries
  //! to load another command but a command is still pending
-  static constexpr ReturnValue_t COMMAND_PENDING = returnvalue::makeCode(CLASS_ID, 1);
+  static constexpr ReturnValue_t COMMAND_PENDING = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
  //! [EXPORT] : [COMMENT] Some bytes have been read from the executing process
-  static constexpr ReturnValue_t BYTES_READ = returnvalue::makeCode(CLASS_ID, 2);
+  static constexpr ReturnValue_t BYTES_READ = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
  //! [EXPORT] : [COMMENT] Command execution failed
-  static constexpr ReturnValue_t COMMAND_ERROR = returnvalue::makeCode(CLASS_ID, 3);
+  static constexpr ReturnValue_t COMMAND_ERROR = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
  //! [EXPORT] : [COMMENT]
-  static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING = returnvalue::makeCode(CLASS_ID, 4);
-  static constexpr ReturnValue_t PCLOSE_CALL_ERROR = returnvalue::makeCode(CLASS_ID, 6);
+  static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING =
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4);
+  static constexpr ReturnValue_t PCLOSE_CALL_ERROR = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 6);

  /**
   * Constructor. Is initialized with maximum size of internal buffer to read data from the
   * executed process.
   * @param maxSize
   */
-  explicit CommandExecutor(size_t maxSize);
+  CommandExecutor(const size_t maxSize);

  /**
   * Load a new command which should be executed
@ -62,11 +64,11 @@ class CommandExecutor {
  /**
   * Execute the loaded command.
   * @return
-   *  - In blocking mode, it will return returnvalue::FAILED if
+   *  - In blocking mode, it will return RETURN_FAILED if
   *    the result of the system call was not 0. The error value can be accessed using
   *    getLastError
   *  - In non-blocking mode, this call will start
-   *    the execution and then return returnvalue::OK
+   *    the execution and then return RETURN_OK
   */
  ReturnValue_t execute();
  /**
@ -75,8 +77,8 @@ class CommandExecutor {
   * @return
   *  - BYTES_READ if bytes have been read from the executing process. It is recommended to call
   *    check again after this
-   *  - returnvalue::OK execution is pending, but no bytes have been read from the executing process
-   *  - returnvalue::FAILED if execution has failed, error value can be accessed using getLastError
+   *  - RETURN_OK execution is pending, but no bytes have been read from the executing process
+   *  - RETURN_FAILED if execution has failed, error value can be accessed using getLastError
   *  - EXECUTION_FINISHED if the process was executed successfully
   *  - NO_COMMAND_LOADED_OR_PENDING self-explanatory
   *  - COMMAND_ERROR internal poll error
@ -85,7 +87,7 @@ class CommandExecutor {
  /**
   * Abort the current command. Should normally not be necessary, check can be used to find
   * out whether command execution was successful
-   * @return returnvalue::OK
+   * @return RETURN_OK
   */
  ReturnValue_t close();

@ -107,8 +109,6 @@ class CommandExecutor {
   */
  void reset();

-  const std::vector<char>& getReadVector() const;
-
 private:
  std::string currentCmd;
  bool blocking = true;
--- a/hal/src/fsfw_hal/linux/UnixFileGuard.cpp
+++ b/hal/src/fsfw_hal/linux/UnixFileGuard.cpp
@ -6,11 +6,14 @@
 #include "fsfw/FSFW.h"
 #include "fsfw/serviceinterface.h"

-UnixFileGuard::UnixFileGuard(const std::string& device, int& fileDescriptor, int flags,
+UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
                             std::string diagnosticPrefix)
-    : fdRef(fileDescriptor) {
-  fileDescriptor = open(device.c_str(), flags);
-  if (fileDescriptor < 0) {
+    : fileDescriptor(fileDescriptor) {
+  if (fileDescriptor == nullptr) {
+    return;
+  }
+  *fileDescriptor = open(device.c_str(), flags);
+  if (*fileDescriptor < 0) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << diagnosticPrefix << ": Opening device failed with error code " << errno << ": "
@ -24,6 +27,10 @@ UnixFileGuard::UnixFileGuard(const std::string& device, int& fileDescriptor, int
  }
 }

-UnixFileGuard::~UnixFileGuard() { close(fdRef); }
+UnixFileGuard::~UnixFileGuard() {
+  if (fileDescriptor != nullptr) {
+    close(*fileDescriptor);
+  }
+}

 ReturnValue_t UnixFileGuard::getOpenResult() const { return openStatus; }
--- a/hal/src/fsfw_hal/linux/UnixFileGuard.h
+++ b/hal/src/fsfw_hal/linux/UnixFileGuard.h
@ -2,7 +2,7 @@
 #define LINUX_UTILITY_UNIXFILEGUARD_H_

 #include <fcntl.h>
-#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
 #include <unistd.h>

 #include <string>
@ -15,15 +15,7 @@ class UnixFileGuard {

  static constexpr ReturnValue_t OPEN_FILE_FAILED = 1;

-  /**
-   * Open a device and assign the given file descriptor variable
-   * @param device [in] Device name.
-   * @param fileDescriptor [in/out] Will be assigned by file guard and re-used to
-   *    close the guard.
-   * @param flags
-   * @param diagnosticPrefix
-   */
-  UnixFileGuard(const std::string& device, int& fileDescriptor, int flags,
+  UnixFileGuard(std::string device, int* fileDescriptor, int flags,
                std::string diagnosticPrefix = "");

  virtual ~UnixFileGuard();
@ -31,8 +23,8 @@ class UnixFileGuard {
  ReturnValue_t getOpenResult() const;

 private:
-  int& fdRef;
-  ReturnValue_t openStatus = returnvalue::OK;
+  int* fileDescriptor = nullptr;
+  ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK;
 };

 #endif /* LINUX_UTILITY_UNIXFILEGUARD_H_ */
--- a/hal/src/fsfw_hal/linux/gpio/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/gpio/CMakeLists.txt
@ -0,0 +1,16 @@
+# This abstraction layer requires the gpiod library. You can install this library
+# with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need
+# to install the package before syncing the sysroot to your host computer.
+find_library(LIB_GPIO gpiod)
+
+if(${LIB_GPIO} MATCHES LIB_GPIO-NOTFOUND)
+    message(STATUS "gpiod library not found, not linking against it")
+else()
+    target_sources(${LIB_FSFW_NAME} PRIVATE
+        LinuxLibgpioIF.cpp
+    )
+    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+        ${LIB_GPIO}
+    )
+endif()
+
--- a/hal/src/fsfw_hal/linux/gpio/Gpio.h
+++ b/hal/src/fsfw_hal/linux/gpio/Gpio.h
--- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
+++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
@ -20,33 +20,31 @@ LinuxLibgpioIF::~LinuxLibgpioIF() {
 ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
  ReturnValue_t result;
  if (gpioCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
-#endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }

  GpioMap mapToAdd = gpioCookie->getGpioMap();

  /* Check whether this ID already exists in the map and remove duplicates */
  result = checkForConflicts(mapToAdd);
-  if (result != returnvalue::OK) {
+  if (result != RETURN_OK) {
    return result;
  }

  result = configureGpios(mapToAdd);
-  if (result != returnvalue::OK) {
-    return returnvalue::FAILED;
+  if (result != RETURN_OK) {
+    return RETURN_FAILED;
  }

  /* Register new GPIOs in gpioMap */
  gpioMap.insert(mapToAdd.begin(), mapToAdd.end());

-  return returnvalue::OK;
+  return RETURN_OK;
 }

 ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = RETURN_OK;
  for (auto& gpioConfig : mapToAdd) {
    auto& gpioType = gpioConfig.second->gpioType;
    switch (gpioType) {
@ -86,7 +84,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
                               gpioCallback->initValue, gpioCallback->callbackArgs);
      }
    }
-    if (result != returnvalue::OK) {
+    if (result != RETURN_OK) {
      return GPIO_INIT_FAILED;
    }
  }
@ -98,11 +96,9 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
  std::string& label = gpioByLabel.label;
  struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
  if (chip == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
                 << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
-#endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }
  std::string failOutput = "label: " + label;
  return configureRegularGpio(gpioId, chip, gpioByLabel, failOutput);
@ -112,11 +108,9 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, GpiodRegularB
  std::string& chipname = gpioByChip.chipname;
  struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
  if (chip == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " << chipname
                 << ". Gpio ID: " << gpioId << std::endl;
-#endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }
  std::string failOutput = "chipname: " + chipname;
  return configureRegularGpio(gpioId, chip, gpioByChip, failOutput);
@ -132,18 +126,16 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
      gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH, &lineOffset);
  if (result != LINE_FOUND) {
    parseFindeLineResult(result, lineName);
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }

  gpioByLineName.lineNum = static_cast<int>(lineOffset);

  struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
  if (chip == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " << chipname
                 << ". <Gpio ID: " << gpioId << std::endl;
-#endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }
  std::string failOutput = "line name: " + lineName;
  return configureRegularGpio(gpioId, chip, gpioByLineName, failOutput);
@ -161,14 +153,12 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
  lineNum = regularGpio.lineNum;
  lineHandle = gpiod_chip_get_line(chip, lineNum);
  if (!lineHandle) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
    sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum << ", " << failOutput
                 << std::endl;
    sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
-#endif
    gpiod_chip_close(chip);
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }

  direction = regularGpio.direction;
@ -185,9 +175,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
      break;
    }
    default: {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
-#endif
      return GPIO_INVALID_INSTANCE;
    }

@ -202,7 +190,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
            lineNum, gpioId);
 #endif
        gpiod_line_release(lineHandle);
-        return returnvalue::FAILED;
+        return RETURN_FAILED;
      }
  }
  /**
@ -210,15 +198,13 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
   * read states of GPIOs.
   */
  regularGpio.lineHandle = lineHandle;
-  return returnvalue::OK;
+  return RETURN_OK;
 }

 ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
-  auto gpioMapIter = gpioMap.find(gpioId);
+  gpioMapIter = gpioMap.find(gpioId);
  if (gpioMapIter == gpioMap.end()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
-#endif
    return UNKNOWN_GPIO_ID;
  }

@ -238,13 +224,13 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
    }
    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::HIGH,
                           gpioCallback->callbackArgs);
-    return returnvalue::OK;
+    return RETURN_OK;
  }
  return GPIO_TYPE_FAILURE;
 }

 ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
-  auto gpioMapIter = gpioMap.find(gpioId);
+  gpioMapIter = gpioMap.find(gpioId);
  if (gpioMapIter == gpioMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "LinuxLibgpioIF::pullLow: Unknown GPIO ID " << gpioId << std::endl;
@ -270,7 +256,7 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
    }
    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::LOW,
                           gpioCallback->callbackArgs);
-    return returnvalue::OK;
+    return RETURN_OK;
  }
  return GPIO_TYPE_FAILURE;
 }
@ -291,11 +277,11 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regul
    return DRIVE_GPIO_FAILURE;
  }

-  return returnvalue::OK;
+  return RETURN_OK;
 }

 ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState) {
-  auto gpioMapIter = gpioMap.find(gpioId);
+  gpioMapIter = gpioMap.find(gpioId);
  if (gpioMapIter == gpioMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
@ -324,14 +310,14 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState)
    }
    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ, gpio::Levels::NONE,
                           gpioCallback->callbackArgs);
-    return returnvalue::OK;
+    return RETURN_OK;
  }
-  return returnvalue::OK;
+  return RETURN_OK;
 }

 ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
-  ReturnValue_t status = returnvalue::OK;
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  for (auto& gpioConfig : mapToAdd) {
    switch (gpioConfig.second->gpioType) {
      case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
@ -343,7 +329,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
        }
        // Check for conflicts and remove duplicates if necessary
        result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
-        if (result != returnvalue::OK) {
+        if (result != HasReturnvaluesIF::RETURN_OK) {
          status = result;
        }
        break;
@ -355,7 +341,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
        }
        // Check for conflicts and remove duplicates if necessary
        result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
-        if (result != returnvalue::OK) {
+        if (result != HasReturnvaluesIF::RETURN_OK) {
          status = result;
        }
        break;
@ -377,7 +363,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
                                                    gpio::GpioTypes expectedType,
                                                    GpioMap& mapToAdd) {
  // Cross check with private map
-  auto gpioMapIter = gpioMap.find(gpioIdToCheck);
+  gpioMapIter = gpioMap.find(gpioIdToCheck);
  if (gpioMapIter != gpioMap.end()) {
    auto& gpioType = gpioMapIter->second->gpioType;
    bool eraseDuplicateDifferentType = false;
@ -429,7 +415,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
    mapToAdd.erase(gpioIdToCheck);
    return GPIO_DUPLICATE_DETECTED;
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) {
--- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
@ -19,15 +19,21 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
 public:
  static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;

-  static constexpr ReturnValue_t UNKNOWN_GPIO_ID = returnvalue::makeCode(gpioRetvalId, 1);
-  static constexpr ReturnValue_t DRIVE_GPIO_FAILURE = returnvalue::makeCode(gpioRetvalId, 2);
-  static constexpr ReturnValue_t GPIO_TYPE_FAILURE = returnvalue::makeCode(gpioRetvalId, 3);
-  static constexpr ReturnValue_t GPIO_INVALID_INSTANCE = returnvalue::makeCode(gpioRetvalId, 4);
-  static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED = returnvalue::makeCode(gpioRetvalId, 5);
-  static constexpr ReturnValue_t GPIO_INIT_FAILED = returnvalue::makeCode(gpioRetvalId, 6);
+  static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
+  static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
+  static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
+  static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
+  static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
+  static constexpr ReturnValue_t GPIO_INIT_FAILED =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 6);
  // Will be returned if getting the line value failed. Error type will be set to errno in this case
-  static constexpr ReturnValue_t GPIO_GET_VALUE_FAILED = returnvalue::makeCode(gpioRetvalId, 7);
-
+  static constexpr ReturnValue_t GPIO_GET_VALUE_FAILED =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 7);
  LinuxLibgpioIF(object_id_t objectId);
  virtual ~LinuxLibgpioIF();

@ -44,6 +50,7 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {

  // Holds the information and configuration of all used GPIOs
  GpioUnorderedMap gpioMap;
+  GpioUnorderedMapIter gpioMapIter;

  /**
   * @brief	This functions drives line of a GPIO specified by the GPIO ID.
@ -66,7 +73,7 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
   *
   * @param mapToAdd	The GPIOs which shall be added to the gpioMap.
   *
-   * @return	returnvalue::OK if successful, otherwise returnvalue::FAILED
+   * @return	RETURN_OK if successful, otherwise RETURN_FAILED
   */
  ReturnValue_t checkForConflicts(GpioMap& mapToAdd);

--- a/hal/src/fsfw_hal/linux/i2c/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/i2c/CMakeLists.txt
@ -0,0 +1,8 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+    I2cComIF.cpp
+    I2cCookie.cpp
+)
+
+
+
+
--- a/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp
+++ b/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp
@ -41,7 +41,7 @@ ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {

  i2cAddress = i2cCookie->getAddress();

-  auto i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
  if (i2cDeviceMapIter == i2cDeviceMap.end()) {
    size_t maxReplyLen = i2cCookie->getMaxReplyLen();
    I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
@ -52,31 +52,32 @@ ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
                 << i2cAddress << "to I2C device "
                 << "map" << std::endl;
 #endif
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
  }

 #if FSFW_CPP_OSTREAM_ENABLED == 1
  sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress
             << "already in use" << std::endl;
 #endif
-  return returnvalue::FAILED;
+  return HasReturnvaluesIF::RETURN_FAILED;
 }

 ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
  ReturnValue_t result;
-  int fd = 0;
+  int fd;
+  std::string deviceFile;

  if (sendData == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "I2cComIF::sendMessage: Send Data is nullptr" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }

  if (sendLen == 0) {
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
  }

  I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
@ -88,53 +89,50 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
  }

  address_t i2cAddress = i2cCookie->getAddress();
-  auto i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
  if (i2cDeviceMapIter == i2cDeviceMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
               << "registered in i2cDeviceMap" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }

-  const auto& deviceFile = i2cCookie->getDeviceFile();
-  UnixFileGuard fileHelper(deviceFile, fd, O_RDWR, "I2cComIF::sendMessage");
-  if (fileHelper.getOpenResult() != returnvalue::OK) {
+  deviceFile = i2cCookie->getDeviceFile();
+  UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::sendMessage");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
    return fileHelper.getOpenResult();
  }
-  result = openI2cSlave(deviceFile, i2cAddress, fd);
-  if (result != returnvalue::OK) {
+  result = openDevice(deviceFile, i2cAddress, &fd);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }

  if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
-    i2cCookie->errorCounter++;
-    if (i2cCookie->errorCounter < 3) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
-                    "device from "
-                 << deviceFile << " with error code " << errno
-                 << ". Error description: " << strerror(errno) << std::endl;
+                  "device with error code "
+               << errno << ". Error description: " << strerror(errno) << std::endl;
 #endif
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
-    return returnvalue::FAILED;
-  }
-  i2cCookie->errorCounter = 0;
+
 #if FSFW_HAL_I2C_WIRETAPPING == 1
  sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl;
  arrayprinter::print(sendData, sendLen);
 #endif
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

-ReturnValue_t I2cComIF::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
+ReturnValue_t I2cComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }

 ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
  ReturnValue_t result;
-  int fd = 0;
+  int fd;
+  std::string deviceFile;

  if (requestLen == 0) {
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
  }

  I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
@ -142,27 +140,29 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
 #endif
+    i2cDeviceMapIter->second.replyLen = 0;
    return NULLPOINTER;
  }

  address_t i2cAddress = i2cCookie->getAddress();
-  auto i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
  if (i2cDeviceMapIter == i2cDeviceMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
               << "registered in i2cDeviceMap" << std::endl;
 #endif
-    return returnvalue::FAILED;
-  }
    i2cDeviceMapIter->second.replyLen = 0;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }

-  auto& deviceFile = i2cCookie->getDeviceFile();
-  UnixFileGuard fileHelper(deviceFile, fd, O_RDWR, "I2cComIF::requestReceiveMessage");
-  if (fileHelper.getOpenResult() != returnvalue::OK) {
+  deviceFile = i2cCookie->getDeviceFile();
+  UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
    return fileHelper.getOpenResult();
  }
-  result = openI2cSlave(deviceFile, i2cAddress, fd);
-  if (result != returnvalue::OK) {
+  result = openDevice(deviceFile, i2cAddress, &fd);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    i2cDeviceMapIter->second.replyLen = 0;
    return result;
  }

@ -183,7 +183,8 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
 #else
 #endif
 #endif
-    return returnvalue::FAILED;
+    i2cDeviceMapIter->second.replyLen = 0;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }

 #if FSFW_HAL_I2C_WIRETAPPING == 1
@ -192,7 +193,7 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
 #endif

  i2cDeviceMapIter->second.replyLen = requestLen;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
@ -205,23 +206,23 @@ ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
  }

  address_t i2cAddress = i2cCookie->getAddress();
-  auto i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
  if (i2cDeviceMapIter == i2cDeviceMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
               << "found in i2cDeviceMap" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  *buffer = i2cDeviceMapIter->second.replyBuffer.data();
  *size = i2cDeviceMapIter->second.replyLen;
-  i2cDeviceMapIter->second.replyLen = 0;
-  return returnvalue::OK;
+
+  return HasReturnvaluesIF::RETURN_OK;
 }

-ReturnValue_t I2cComIF::openI2cSlave(const std::string& deviceFile, address_t i2cAddress,
-                                     int& fileDescriptor) {
-  if (ioctl(fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
+ReturnValue_t I2cComIF::openDevice(std::string deviceFile, address_t i2cAddress,
+                                   int* fileDescriptor) {
+  if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "I2cComIF: Specifying target device failed with error code " << errno << "."
@ -232,7 +233,7 @@ ReturnValue_t I2cComIF::openI2cSlave(const std::string& deviceFile, address_t i2
    sif::printWarning("Error description: %s\n", strerror(errno));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
--- a/hal/src/fsfw_hal/linux/i2c/I2cComIF.h
+++ b/hal/src/fsfw_hal/linux/i2c/I2cComIF.h
@ -36,10 +36,12 @@ class I2cComIF : public DeviceCommunicationIF, public SystemObject {
  };

  using I2cDeviceMap = std::unordered_map<address_t, I2cInstance>;
+  using I2cDeviceMapIter = I2cDeviceMap::iterator;

  /* In this map all i2c devices will be registered with their address and
   * the appropriate file descriptor will be stored */
  I2cDeviceMap i2cDeviceMap;
+  I2cDeviceMapIter i2cDeviceMapIter;

  /**
   * @brief	This function opens an I2C device and binds the opened file
@ -47,10 +49,9 @@ class I2cComIF : public DeviceCommunicationIF, public SystemObject {
   * @param deviceFile	The name of the device file. E.g. i2c-0
   * @param i2cAddress	The address of the i2c slave device.
   * @param fileDescriptor	Pointer to device descriptor.
-   * @return	returnvalue::OK if successful, otherwise returnvalue::FAILED.
+   * @return	RETURN_OK if successful, otherwise RETURN_FAILED.
   */
-  ReturnValue_t openI2cSlave(const std::string &deviceFile, address_t i2cAddress,
-                             int &fileDescriptor);
+  ReturnValue_t openDevice(std::string deviceFile, address_t i2cAddress, int *fileDescriptor);
 };

 #endif /* LINUX_I2C_I2COMIF_H_ */
--- a/hal/src/fsfw_hal/linux/i2c/I2cCookie.cpp
+++ b/hal/src/fsfw_hal/linux/i2c/I2cCookie.cpp
@ -1,12 +1,12 @@
 #include "fsfw_hal/linux/i2c/I2cCookie.h"

 I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, std::string deviceFile_)
-    : i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(std::move(deviceFile_)) {}
+    : i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(deviceFile_) {}

 address_t I2cCookie::getAddress() const { return i2cAddress; }

 size_t I2cCookie::getMaxReplyLen() const { return maxReplyLen; }

-const std::string& I2cCookie::getDeviceFile() const { return deviceFile; }
+std::string I2cCookie::getDeviceFile() const { return deviceFile; }

 I2cCookie::~I2cCookie() {}
--- a/hal/src/fsfw_hal/linux/i2c/I2cCookie.h
+++ b/hal/src/fsfw_hal/linux/i2c/I2cCookie.h
@ -25,9 +25,7 @@ class I2cCookie : public CookieIF {

  address_t getAddress() const;
  size_t getMaxReplyLen() const;
-  const std::string& getDeviceFile() const;
-
-  uint8_t errorCounter = 0;
+  std::string getDeviceFile() const;

 private:
  address_t i2cAddress = 0;
--- a/hal/src/fsfw_hal/linux/rpi/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/rpi/CMakeLists.txt
@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    GpioRPi.cpp
+)
--- a/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp
+++ b/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp
@ -9,7 +9,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
                                        std::string consumer, gpio::Direction direction,
                                        gpio::Levels initValue) {
  if (cookie == nullptr) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }

  auto config = new GpiodRegularByChip();
@ -30,9 +30,9 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
    sif::printError("createRpiGpioConfig: BCM pin %d invalid!\n", bcmPin);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  config->lineNum = bcmPin;
  cookie->addGpio(gpioId, config);
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
--- a/hal/src/fsfw_hal/linux/rpi/GpioRPi.h
+++ b/hal/src/fsfw_hal/linux/rpi/GpioRPi.h
@ -1,7 +1,7 @@
 #ifndef BSP_RPI_GPIO_GPIORPI_H_
 #define BSP_RPI_GPIO_GPIORPI_H_

-#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>

 #include "../../common/gpio/gpioDefinitions.h"

--- a/hal/src/fsfw_hal/linux/spi/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/spi/CMakeLists.txt
@ -0,0 +1,8 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+    SpiComIF.cpp
+    SpiCookie.cpp
+)
+
+
+
+
--- a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
+++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
@ -15,9 +15,19 @@
 #include "fsfw_hal/linux/spi/SpiCookie.h"
 #include "fsfw_hal/linux/utility.h"

-SpiComIF::SpiComIF(object_id_t objectId, std::string devname, GpioIF& gpioComIF)
-    : SystemObject(objectId), gpioComIF(gpioComIF), dev(std::move(devname)) {
-  csMutex = MutexFactory::instance()->createMutex();
+SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF)
+    : SystemObject(objectId), gpioComIF(gpioComIF) {
+  if (gpioComIF == nullptr) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "SpiComIF::SpiComIF: GPIO communication interface invalid!" << std::endl;
+#else
+    sif::printError("SpiComIF::SpiComIF: GPIO communication interface invalid!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+  }
+
+  spiMutex = MutexFactory::instance()->createMutex();
 }

 ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
@ -46,7 +56,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
          static_cast<unsigned long>(spiAddress));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    /* Now we emplaced the read buffer in the map, we still need to assign that location
    to the SPI driver transfer struct */
@ -59,13 +69,13 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
    sif::printError("SpiComIF::initializeInterface: SPI address already exists!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }

  /* Pull CS high in any case to be sure that device is inactive */
  gpioId_t gpioId = spiCookie->getChipSelectPin();
  if (gpioId != gpio::NO_GPIO) {
-    gpioComIF.pullHigh(gpioId);
+    gpioComIF->pullHigh(gpioId);
  }

  uint32_t spiSpeed = 0;
@ -75,8 +85,9 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
  spiCookie->getSpiParameters(spiMode, spiSpeed, &params);

  int fileDescriptor = 0;
-  UnixFileGuard fileHelper(dev, fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
-  if (fileHelper.getOpenResult() != returnvalue::OK) {
+  UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
+                           "SpiComIF::initializeInterface");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
    return fileHelper.getOpenResult();
  }

@ -118,12 +129,12 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
          "Could not write bits per word!");
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t SpiComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
  SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;

  if (spiCookie == nullptr) {
    return NULLPOINTER;
@ -167,49 +178,40 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
    spiCookie->assignReadBuffer(iter->second.replyBuffer.data());
  }

-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  int retval = 0;
  /* Prepare transfer */
  int fileDescriptor = 0;
-  UnixFileGuard fileHelper(dev, fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
-  if (fileHelper.getOpenResult() != returnvalue::OK) {
-    return spi::OPENING_FILE_FAILED;
+  std::string device = spiCookie->getSpiDevice();
+  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    return OPENING_FILE_FAILED;
  }
  spi::SpiModes spiMode = spi::SpiModes::MODE_0;
  uint32_t spiSpeed = 0;
  spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
  setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
+  spiCookie->assignWriteBuffer(sendData);
+  spiCookie->setTransferSize(sendLen);

  bool fullDuplex = spiCookie->isFullDuplex();
  gpioId_t gpioId = spiCookie->getChipSelectPin();
-  bool csLockManual = spiCookie->getCsLockManual();
-  spiCookie->setTransferSize(0);

-  MutexIF::TimeoutType csType;
-  dur_millis_t csTimeout = 0;
-  // Pull SPI CS low. For now, no support for active high given
-  if (gpioId != gpio::NO_GPIO and not csLockManual) {
-    spiCookie->getMutexParams(csType, csTimeout);
-    result = csMutex->lockMutex(csType, csTimeout);
-    if (result != returnvalue::OK) {
+  /* Pull SPI CS low. For now, no support for active high given  */
+  if (gpioId != gpio::NO_GPIO) {
+    result = spiMutex->lockMutex(timeoutType, timeoutMs);
+    if (result != RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      if (result == MutexIF::MUTEX_TIMEOUT) {
-        sif::error << "SpiComIF::sendMessage: Lock timeout" << std::endl;
-      } else {
-        sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code "
-                   << "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec
-                   << std::endl;
-      }
+      sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
 #else
-      sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result);
+      sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
 #endif
 #endif
      return result;
    }
-    updateLinePolarity(fileDescriptor);
-    result = gpioComIF.pullLow(gpioId);
-    if (result != returnvalue::OK) {
+    ReturnValue_t result = gpioComIF->pullLow(gpioId);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::warning << "SpiComIF::sendMessage: Pulling low CS pin failed" << std::endl;
@ -217,24 +219,17 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
      sif::printWarning("SpiComIF::sendMessage: Pulling low CS pin failed");
 #endif
 #endif
-      csMutex->unlockMutex();
      return result;
    }
-  } else {
-    updateLinePolarity(fileDescriptor);
  }

-  spiCookie->assignWriteBuffer(sendData);
-  spiCookie->setTransferSize(sendLen);
-
  /* Execute transfer */
  if (fullDuplex) {
    /* Initiate a full duplex SPI transfer. */
    retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
    if (retval < 0) {
-      spiCookie->setTransferSize(0);
      utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
-      result = spi::FULL_DUPLEX_TRANSFER_FAILED;
+      result = FULL_DUPLEX_TRANSFER_FAILED;
    }
 #if FSFW_HAL_SPI_WIRETAPPING == 1
    performSpiWiretapping(spiCookie);
@ -242,7 +237,6 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
  } else {
    /* We write with a blocking half-duplex transfer here */
    if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
-      spiCookie->setTransferSize(0);
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" << std::endl;
@ -250,14 +244,14 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
      sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-      result = spi::HALF_DUPLEX_TRANSFER_FAILED;
+      result = HALF_DUPLEX_TRANSFER_FAILED;
    }
  }

-  if (gpioId != gpio::NO_GPIO and not csLockManual) {
-    gpioComIF.pullHigh(gpioId);
-    result = csMutex->unlockMutex();
-    if (result != returnvalue::OK) {
+  if (gpioId != gpio::NO_GPIO) {
+    gpioComIF->pullHigh(gpioId);
+    result = spiMutex->unlockMutex();
+    if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
 #endif
@ -267,7 +261,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
  return result;
 }

-ReturnValue_t SpiComIF::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
+ReturnValue_t SpiComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }

 ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
  SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
@ -276,47 +270,38 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
  }

  if (spiCookie->isFullDuplex()) {
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
  }

  return performHalfDuplexReception(spiCookie);
 }

 ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  std::string device = spiCookie->getSpiDevice();
  int fileDescriptor = 0;
-  UnixFileGuard fileHelper(dev, fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
-  if (fileHelper.getOpenResult() != returnvalue::OK) {
-    return spi::OPENING_FILE_FAILED;
+  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    return OPENING_FILE_FAILED;
  }

  uint8_t* rxBuf = nullptr;
  size_t readSize = spiCookie->getCurrentTransferSize();
  result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }

-  bool csLockManual = spiCookie->getCsLockManual();
  gpioId_t gpioId = spiCookie->getChipSelectPin();
-  MutexIF::TimeoutType csType;
-  dur_millis_t csTimeout = 0;
-  if (gpioId != gpio::NO_GPIO and not csLockManual) {
-    spiCookie->getMutexParams(csType, csTimeout);
-    result = csMutex->lockMutex(csType, csTimeout);
-    if (result != returnvalue::OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
+  if (gpioId != gpio::NO_GPIO) {
+    result = spiMutex->lockMutex(timeoutType, timeoutMs);
+    if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code "
-                 << "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec
-                 << std::endl;
-#else
-      sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result);
-#endif
+      sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
 #endif
      return result;
    }
-    gpioComIF.pullLow(gpioId);
+    gpioComIF->pullLow(gpioId);
  }

  if (read(fileDescriptor, rxBuf, readSize) != static_cast<ssize_t>(readSize)) {
@ -327,13 +312,13 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
    sif::printWarning("SpiComIF::sendMessage: Half-Duplex read operation failed!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-    result = spi::HALF_DUPLEX_TRANSFER_FAILED;
+    result = HALF_DUPLEX_TRANSFER_FAILED;
  }

-  if (gpioId != gpio::NO_GPIO and not csLockManual) {
-    gpioComIF.pullHigh(gpioId);
-    result = csMutex->unlockMutex();
-    if (result != returnvalue::OK) {
+  if (gpioId != gpio::NO_GPIO) {
+    gpioComIF->pullHigh(gpioId);
+    result = spiMutex->unlockMutex();
+    if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
 #endif
@ -347,21 +332,29 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
 ReturnValue_t SpiComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
  SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
  if (spiCookie == nullptr) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  uint8_t* rxBuf = nullptr;
  ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }

  *buffer = rxBuf;
  *size = spiCookie->getCurrentTransferSize();
  spiCookie->setTransferSize(0);
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

-MutexIF* SpiComIF::getCsMutex() { return csMutex; }
+MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
+  if (timeoutType != nullptr) {
+    *timeoutType = this->timeoutType;
+  }
+  if (timeoutMs != nullptr) {
+    *timeoutMs = this->timeoutMs;
+  }
+  return spiMutex;
+}

 void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
  if (spiCookie == nullptr) {
@ -384,19 +377,19 @@ void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {

 ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
  if (buffer == nullptr) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }

  auto iter = spiDeviceMap.find(spiAddress);
  if (iter == spiDeviceMap.end()) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }

  *buffer = iter->second.replyBuffer.data();
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

-GpioIF& SpiComIF::getGpioInterface() { return gpioComIF; }
+GpioIF* SpiComIF::getGpioInterface() { return gpioComIF; }

 void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
  int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
@ -408,27 +401,11 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed)
  if (retval != 0) {
    utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
  }
-}
-
-void SpiComIF::getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const {
-  uint8_t tmpMode = 0;
-  int retval = ioctl(spiFd, SPI_IOC_RD_MODE, &tmpMode);
-  if (retval != 0) {
-    utility::handleIoctlError("SpiComIF::getSpiSpeedAndMode: Reading SPI mode failed");
-  }
-  mode = static_cast<spi::SpiModes>(tmpMode);
-
-  retval = ioctl(spiFd, SPI_IOC_RD_MAX_SPEED_HZ, &speed);
-  if (retval != 0) {
-    utility::handleIoctlError("SpiComIF::getSpiSpeedAndMode: Getting SPI speed failed");
-  }
-}
-
-const std::string& SpiComIF::getSpiDev() const { return dev; }
-
-void SpiComIF::updateLinePolarity(int spiFd) {
+  // This updates the SPI clock default polarity. Only setting the mode does not update
+  // the line state, which can be an issue on mode switches because the clock line will
+  // switch the state after the chip select is pulled low
  clockUpdateTransfer.len = 0;
-  int retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
+  retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
  if (retval != 0) {
    utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
  }
--- a/hal/src/fsfw_hal/linux/spi/SpiComIF.h
+++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.h
@ -22,7 +22,17 @@ class SpiCookie;
 */
 class SpiComIF : public DeviceCommunicationIF, public SystemObject {
 public:
-  SpiComIF(object_id_t objectId, std::string devname, GpioIF& gpioComIF);
+  static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
+  static constexpr ReturnValue_t OPENING_FILE_FAILED =
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
+  /* Full duplex (ioctl) transfer failure */
+  static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
+  /* Half duplex (read/write) transfer failure */
+  static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
+
+  SpiComIF(object_id_t objectId, GpioIF* gpioComIF);

  ReturnValue_t initializeInterface(CookieIF* cookie) override;
  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
@ -34,8 +44,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
   * @brief   This function returns the mutex which can be used to protect the spi bus when
   *          the chip select must be driven from outside of the com if.
   */
-  MutexIF* getCsMutex();
-  void setMutexParams(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);
+  MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr);

  /**
   * Perform a regular send operation using Linux iotcl. This is public so it can be used
@ -48,22 +57,8 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
  ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t* sendData,
                                            size_t sendLen);

-  GpioIF& getGpioInterface();
+  GpioIF* getGpioInterface();
  void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
-  void getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const;
-
-  /**
-   * This updates the SPI clock default polarity. Only setting the mode does not update
-   * the line state, which can be an issue on mode switches because the clock line will
-   * switch the state after the chip select is pulled low.
-   *
-   * It is recommended to call this function after #setSpiSpeedAndMode and after locking the
-   * CS mutex if the SPI bus has multiple SPI devices with different speed and SPI modes attached.
-   * @param spiFd
-   */
-  void updateLinePolarity(int spiFd);
-
-  const std::string& getSpiDev() const;
  void performSpiWiretapping(SpiCookie* spiCookie);

  ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
@ -74,13 +69,11 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
    std::vector<uint8_t> replyBuffer;
  };

-  GpioIF& gpioComIF;
-  std::string dev = "";
-  /**
-   * Protects the chip select operations. Lock when GPIO is pulled low, unlock after it was
-   * pulled high
-   */
-  MutexIF* csMutex = nullptr;
+  GpioIF* gpioComIF = nullptr;
+
+  MutexIF* spiMutex = nullptr;
+  MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+  uint32_t timeoutMs = 20;
  spi_ioc_transfer clockUpdateTransfer = {};

  using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
--- a/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp
+++ b/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp
@ -1,25 +1,26 @@
 #include "SpiCookie.h"

-SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
+SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
+                     const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed)
+    : SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
+                spiSpeed, nullptr, nullptr) {}
+
+SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
                     spi::SpiModes spiMode, uint32_t spiSpeed)
-    : SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, maxSize, spiMode, spiSpeed,
-                nullptr, nullptr) {}
+    : SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {}

-SpiCookie::SpiCookie(address_t spiAddress, const size_t maxSize, spi::SpiModes spiMode,
-                     uint32_t spiSpeed)
-    : SpiCookie(spiAddress, gpio::NO_GPIO, maxSize, spiMode, spiSpeed) {}
-
-SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
-                     spi::SpiModes spiMode, uint32_t spiSpeed,
-                     spi::send_callback_function_t callback, void* args)
-    : SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, maxSize, spiMode, spiSpeed,
-                callback, args) {}
-
-SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
+SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
                     const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
                     spi::send_callback_function_t callback, void* args)
+    : SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize, spiMode,
+                spiSpeed, callback, args) {}
+
+SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
+                     std::string spiDev, const size_t maxSize, spi::SpiModes spiMode,
+                     uint32_t spiSpeed, spi::send_callback_function_t callback, void* args)
    : spiAddress(spiAddress),
      chipSelectPin(chipSelect),
+      spiDevice(spiDev),
      comIfMode(comIfMode),
      maxSize(maxSize),
      spiMode(spiMode),
@ -49,6 +50,8 @@ size_t SpiCookie::getMaxBufferSize() const { return maxSize; }

 address_t SpiCookie::getSpiAddress() const { return spiAddress; }

+std::string SpiCookie::getSpiDevice() const { return spiDevice; }
+
 void SpiCookie::setThreeWireSpi(bool enable) { uncommonParameters.threeWireSpi = enable; }

 void SpiCookie::setLsbFirst(bool enable) { uncommonParameters.lsbFirst = enable; }
@ -104,17 +107,3 @@ void SpiCookie::getCallback(spi::send_callback_function_t* callback, void** args
  *callback = this->sendCallback;
  *args = this->callbackArgs;
 }
-
-void SpiCookie::setCsLockManual(bool enable) { manualCsLock = enable; }
-
-bool SpiCookie::getCsLockManual() const { return manualCsLock; }
-
-void SpiCookie::getMutexParams(MutexIF::TimeoutType& csTimeoutType, dur_millis_t& csTimeout) const {
-  csTimeoutType = this->csTimeoutType;
-  csTimeout = this->csTimeout;
-}
-
-void SpiCookie::setMutexParams(MutexIF::TimeoutType csTimeoutType, dur_millis_t csTimeout) {
-  this->csTimeoutType = csTimeoutType;
-  this->csTimeout = csTimeout;
-}
--- a/hal/src/fsfw_hal/linux/spi/SpiCookie.h
+++ b/hal/src/fsfw_hal/linux/spi/SpiCookie.h
@ -2,8 +2,6 @@
 #define LINUX_SPI_SPICOOKIE_H_

 #include <fsfw/devicehandlers/CookieIF.h>
-#include <fsfw/ipc/MutexIF.h>
-#include <fsfw/timemanager/clockDefinitions.h>
 #include <linux/spi/spidev.h>

 #include "../../common/gpio/gpioDefinitions.h"
@ -22,8 +20,6 @@
 */
 class SpiCookie : public CookieIF {
 public:
-  static constexpr dur_millis_t DEFAULT_MUTEX_TIMEOUT = 20;
-
  /**
   * Each SPI device will have a corresponding cookie. The cookie is used by the communication
   * interface and contains device specific information like the largest expected size to be
@ -33,22 +29,23 @@ class SpiCookie : public CookieIF {
   * @param spiDev
   * @param maxSize
   */
-  SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize, spi::SpiModes spiMode,
-            uint32_t spiSpeed);
+  SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
+            spi::SpiModes spiMode, uint32_t spiSpeed);

  /**
   * Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
   * slave select or if CS logic is performed with decoders.
   */
-  SpiCookie(address_t spiAddress, const size_t maxReplySize, spi::SpiModes spiMode,
-            uint32_t spiSpeed);
+  SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
+            spi::SpiModes spiMode, uint32_t spiSpeed);

  /**
   * Use the callback mode of the SPI communication interface. The user can pass the callback
   * function here or by using the setter function #setCallbackMode
   */
-  SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize, spi::SpiModes spiMode,
-            uint32_t spiSpeed, spi::send_callback_function_t callback, void* args);
+  SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
+            spi::SpiModes spiMode, uint32_t spiSpeed, spi::send_callback_function_t callback,
+            void* args);

  /**
   * Get the callback function
@ -58,6 +55,7 @@ class SpiCookie : public CookieIF {
  void getCallback(spi::send_callback_function_t* callback, void** args);

  address_t getSpiAddress() const;
+  std::string getSpiDevice() const;
  gpioId_t getChipSelectPin() const;
  size_t getMaxBufferSize() const;

@ -141,42 +139,9 @@ class SpiCookie : public CookieIF {
   */
  void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);

-  void getMutexParams(MutexIF::TimeoutType& csTimeoutType, dur_millis_t& csTimeout) const;
-  void setMutexParams(MutexIF::TimeoutType csTimeoutType, dur_millis_t csTimeout);
-
-  void setCsLockManual(bool enable);
-  bool getCsLockManual() const;
-
  spi_ioc_transfer* getTransferStructHandle();

 private:
-  address_t spiAddress;
-  gpioId_t chipSelectPin;
-
-  spi::SpiComIfModes comIfMode;
-
-  // Required for regular mode
-  const size_t maxSize;
-  spi::SpiModes spiMode;
-  /**
-   * If this is set to true, the SPI ComIF will not perform any mutex locking for the
-   * CS mechanism. The user is responsible to locking and unlocking the mutex for the
-   * whole duration of the transfers.
-   */
-  bool manualCsLock = false;
-  uint32_t spiSpeed;
-  bool halfDuplex = false;
-
-  MutexIF::TimeoutType csTimeoutType = MutexIF::TimeoutType::WAITING;
-  dur_millis_t csTimeout = DEFAULT_MUTEX_TIMEOUT;
-
-  // Required for callback mode
-  spi::send_callback_function_t sendCallback = nullptr;
-  void* callbackArgs = nullptr;
-
-  struct spi_ioc_transfer spiTransferStruct = {};
-  UncommonParameters uncommonParameters;
-
  /**
   * Internal constructor which initializes every field
   * @param spiAddress
@ -189,8 +154,27 @@ class SpiCookie : public CookieIF {
   * @param args
   */
  SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
-            const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
+            std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
            spi::send_callback_function_t callback, void* args);
+
+  address_t spiAddress;
+  gpioId_t chipSelectPin;
+  std::string spiDevice;
+
+  spi::SpiComIfModes comIfMode;
+
+  // Required for regular mode
+  const size_t maxSize;
+  spi::SpiModes spiMode;
+  uint32_t spiSpeed;
+  bool halfDuplex = false;
+
+  // Required for callback mode
+  spi::send_callback_function_t sendCallback = nullptr;
+  void* callbackArgs = nullptr;
+
+  struct spi_ioc_transfer spiTransferStruct = {};
+  UncommonParameters uncommonParameters;
 };

 #endif /* LINUX_SPI_SPICOOKIE_H_ */
--- a/hal/src/fsfw_hal/linux/spi/spiDefinitions.h
+++ b/hal/src/fsfw_hal/linux/spi/spiDefinitions.h
@ -7,7 +7,7 @@

 #include "../../common/gpio/gpioDefinitions.h"
 #include "../../common/spi/spiCommon.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"

 class SpiCookie;
 class SpiComIF;
--- a/hal/src/fsfw_hal/linux/uart/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/uart/CMakeLists.txt
@ -0,0 +1,4 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+	UartComIF.cpp
+	UartCookie.cpp
+)
--- a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp
+++ b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp
@ -1,4 +1,4 @@
-#include "SerialComIF.h"
+#include "UartComIF.h"

 #include <errno.h>
 #include <fcntl.h>
@ -11,18 +11,19 @@
 #include "fsfw/serviceinterface.h"
 #include "fsfw_hal/linux/utility.h"

-SerialComIF::SerialComIF(object_id_t objectId) : SystemObject(objectId) {}
+UartComIF::UartComIF(object_id_t objectId) : SystemObject(objectId) {}

-SerialComIF::~SerialComIF() {}
+UartComIF::~UartComIF() {}

-ReturnValue_t SerialComIF::initializeInterface(CookieIF* cookie) {
+ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
  std::string deviceFile;
+  UartDeviceMapIter uartDeviceMapIter;

  if (cookie == nullptr) {
    return NULLPOINTER;
  }

-  SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
+  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
  if (uartCookie == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
@ -32,11 +33,11 @@ ReturnValue_t SerialComIF::initializeInterface(CookieIF* cookie) {

  deviceFile = uartCookie->getDeviceFile();

-  auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
  if (uartDeviceMapIter == uartDeviceMap.end()) {
    int fileDescriptor = configureUartPort(uartCookie);
    if (fileDescriptor < 0) {
-      return returnvalue::FAILED;
+      return RETURN_FAILED;
    }
    size_t maxReplyLen = uartCookie->getMaxReplyLen();
    UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
@ -46,20 +47,20 @@ ReturnValue_t SerialComIF::initializeInterface(CookieIF* cookie) {
      sif::warning << "UartComIF::initializeInterface: Failed to insert device " << deviceFile
                   << "to UART device map" << std::endl;
 #endif
-      return returnvalue::FAILED;
+      return RETURN_FAILED;
    }
  } else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile
                 << " already in use" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }

-  return returnvalue::OK;
+  return RETURN_OK;
 }

-int SerialComIF::configureUartPort(SerialCookie* uartCookie) {
+int UartComIF::configureUartPort(UartCookie* uartCookie) {
  struct termios options = {};

  std::string deviceFile = uartCookie->getDeviceFile();
@ -88,11 +89,11 @@ int SerialComIF::configureUartPort(SerialCookie* uartCookie) {
    return fd;
  }

-  serial::setParity(options, uartCookie->getParity());
+  setParityOptions(&options, uartCookie);
  setStopBitOptions(&options, uartCookie);
  setDatasizeOptions(&options, uartCookie);
  setFixedOptions(&options);
-  serial::setMode(options, uartCookie->getUartMode());
+  setUartMode(&options, *uartCookie);
  if (uartCookie->getInputShouldBeFlushed()) {
    tcflush(fd, TCIFLUSH);
  }
@ -101,7 +102,7 @@ int SerialComIF::configureUartPort(SerialCookie* uartCookie) {
  options.c_cc[VTIME] = 0;
  options.c_cc[VMIN] = 0;

-  serial::setBaudrate(options, uartCookie->getBaudrate());
+  configureBaudrate(&options, uartCookie);

  /* Save option settings */
  if (tcsetattr(fd, TCSANOW, &options) != 0) {
@ -114,7 +115,24 @@ int SerialComIF::configureUartPort(SerialCookie* uartCookie) {
  return fd;
 }

-void SerialComIF::setStopBitOptions(struct termios* options, SerialCookie* uartCookie) {
+void UartComIF::setParityOptions(struct termios* options, UartCookie* uartCookie) {
+  /* Clear parity bit */
+  options->c_cflag &= ~PARENB;
+  switch (uartCookie->getParity()) {
+    case Parity::EVEN:
+      options->c_cflag |= PARENB;
+      options->c_cflag &= ~PARODD;
+      break;
+    case Parity::ODD:
+      options->c_cflag |= PARENB;
+      options->c_cflag |= PARODD;
+      break;
+    default:
+      break;
+  }
+}
+
+void UartComIF::setStopBitOptions(struct termios* options, UartCookie* uartCookie) {
  /* Clear stop field. Sets stop bit to one bit */
  options->c_cflag &= ~CSTOPB;
  switch (uartCookie->getStopBits()) {
@ -126,7 +144,7 @@ void SerialComIF::setStopBitOptions(struct termios* options, SerialCookie* uartC
  }
 }

-void SerialComIF::setDatasizeOptions(struct termios* options, SerialCookie* uartCookie) {
+void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCookie) {
  /* Clear size bits */
  options->c_cflag &= ~CSIZE;
  switch (uartCookie->getBitsPerWord()) {
@ -150,7 +168,7 @@ void SerialComIF::setDatasizeOptions(struct termios* options, SerialCookie* uart
  }
 }

-void SerialComIF::setFixedOptions(struct termios* options) {
+void UartComIF::setFixedOptions(struct termios* options) {
  /* Disable RTS/CTS hardware flow control */
  options->c_cflag &= ~CRTSCTS;
  /* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
@ -173,22 +191,155 @@ void SerialComIF::setFixedOptions(struct termios* options) {
  options->c_oflag &= ~ONLCR;
 }

-ReturnValue_t SerialComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
+void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
+  switch (uartCookie->getBaudrate()) {
+    case UartBaudRate::RATE_50:
+      cfsetispeed(options, B50);
+      cfsetospeed(options, B50);
+      break;
+    case UartBaudRate::RATE_75:
+      cfsetispeed(options, B75);
+      cfsetospeed(options, B75);
+      break;
+    case UartBaudRate::RATE_110:
+      cfsetispeed(options, B110);
+      cfsetospeed(options, B110);
+      break;
+    case UartBaudRate::RATE_134:
+      cfsetispeed(options, B134);
+      cfsetospeed(options, B134);
+      break;
+    case UartBaudRate::RATE_150:
+      cfsetispeed(options, B150);
+      cfsetospeed(options, B150);
+      break;
+    case UartBaudRate::RATE_200:
+      cfsetispeed(options, B200);
+      cfsetospeed(options, B200);
+      break;
+    case UartBaudRate::RATE_300:
+      cfsetispeed(options, B300);
+      cfsetospeed(options, B300);
+      break;
+    case UartBaudRate::RATE_600:
+      cfsetispeed(options, B600);
+      cfsetospeed(options, B600);
+      break;
+    case UartBaudRate::RATE_1200:
+      cfsetispeed(options, B1200);
+      cfsetospeed(options, B1200);
+      break;
+    case UartBaudRate::RATE_1800:
+      cfsetispeed(options, B1800);
+      cfsetospeed(options, B1800);
+      break;
+    case UartBaudRate::RATE_2400:
+      cfsetispeed(options, B2400);
+      cfsetospeed(options, B2400);
+      break;
+    case UartBaudRate::RATE_4800:
+      cfsetispeed(options, B4800);
+      cfsetospeed(options, B4800);
+      break;
+    case UartBaudRate::RATE_9600:
+      cfsetispeed(options, B9600);
+      cfsetospeed(options, B9600);
+      break;
+    case UartBaudRate::RATE_19200:
+      cfsetispeed(options, B19200);
+      cfsetospeed(options, B19200);
+      break;
+    case UartBaudRate::RATE_38400:
+      cfsetispeed(options, B38400);
+      cfsetospeed(options, B38400);
+      break;
+    case UartBaudRate::RATE_57600:
+      cfsetispeed(options, B57600);
+      cfsetospeed(options, B57600);
+      break;
+    case UartBaudRate::RATE_115200:
+      cfsetispeed(options, B115200);
+      cfsetospeed(options, B115200);
+      break;
+    case UartBaudRate::RATE_230400:
+      cfsetispeed(options, B230400);
+      cfsetospeed(options, B230400);
+      break;
+#ifndef __APPLE__
+    case UartBaudRate::RATE_460800:
+      cfsetispeed(options, B460800);
+      cfsetospeed(options, B460800);
+      break;
+    case UartBaudRate::RATE_500000:
+      cfsetispeed(options, B500000);
+      cfsetospeed(options, B500000);
+      break;
+    case UartBaudRate::RATE_576000:
+      cfsetispeed(options, B576000);
+      cfsetospeed(options, B576000);
+      break;
+    case UartBaudRate::RATE_921600:
+      cfsetispeed(options, B921600);
+      cfsetospeed(options, B921600);
+      break;
+    case UartBaudRate::RATE_1000000:
+      cfsetispeed(options, B1000000);
+      cfsetospeed(options, B1000000);
+      break;
+    case UartBaudRate::RATE_1152000:
+      cfsetispeed(options, B1152000);
+      cfsetospeed(options, B1152000);
+      break;
+    case UartBaudRate::RATE_1500000:
+      cfsetispeed(options, B1500000);
+      cfsetospeed(options, B1500000);
+      break;
+    case UartBaudRate::RATE_2000000:
+      cfsetispeed(options, B2000000);
+      cfsetospeed(options, B2000000);
+      break;
+    case UartBaudRate::RATE_2500000:
+      cfsetispeed(options, B2500000);
+      cfsetospeed(options, B2500000);
+      break;
+    case UartBaudRate::RATE_3000000:
+      cfsetispeed(options, B3000000);
+      cfsetospeed(options, B3000000);
+      break;
+    case UartBaudRate::RATE_3500000:
+      cfsetispeed(options, B3500000);
+      cfsetospeed(options, B3500000);
+      break;
+    case UartBaudRate::RATE_4000000:
+      cfsetispeed(options, B4000000);
+      cfsetospeed(options, B4000000);
+      break;
+#endif  // ! __APPLE__
+    default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
+#endif
+      break;
+  }
+}
+
+ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
  int fd = 0;
  std::string deviceFile;
+  UartDeviceMapIter uartDeviceMapIter;

  if (sendLen == 0) {
-    return returnvalue::OK;
+    return RETURN_OK;
  }

  if (sendData == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }

-  SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
+  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
  if (uartCookie == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
@ -197,13 +348,13 @@ ReturnValue_t SerialComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData
  }

  deviceFile = uartCookie->getDeviceFile();
-  auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
  if (uartDeviceMapIter == uartDeviceMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in UART map"
               << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }

  fd = uartDeviceMapIter->second.fileDescriptor;
@ -213,18 +364,19 @@ ReturnValue_t SerialComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData
    sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
               << ": Error description: " << strerror(errno) << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }

-  return returnvalue::OK;
+  return RETURN_OK;
 }

-ReturnValue_t SerialComIF::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
+ReturnValue_t UartComIF::getSendSuccess(CookieIF* cookie) { return RETURN_OK; }

-ReturnValue_t SerialComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
  std::string deviceFile;
+  UartDeviceMapIter uartDeviceMapIter;

-  SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
+  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
  if (uartCookie == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
@ -234,10 +386,10 @@ ReturnValue_t SerialComIF::requestReceiveMessage(CookieIF* cookie, size_t reques

  UartModes uartMode = uartCookie->getUartMode();
  deviceFile = uartCookie->getDeviceFile();
-  auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  uartDeviceMapIter = uartDeviceMap.find(deviceFile);

  if (uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
-    return returnvalue::OK;
+    return RETURN_OK;
  }

  if (uartDeviceMapIter == uartDeviceMap.end()) {
@ -245,7 +397,7 @@ ReturnValue_t SerialComIF::requestReceiveMessage(CookieIF* cookie, size_t reques
    sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
               << " not in uart map" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }

  if (uartMode == UartModes::CANONICAL) {
@ -253,13 +405,13 @@ ReturnValue_t SerialComIF::requestReceiveMessage(CookieIF* cookie, size_t reques
  } else if (uartMode == UartModes::NON_CANONICAL) {
    return handleNoncanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
  } else {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
 }

-ReturnValue_t SerialComIF::handleCanonicalRead(SerialCookie& uartCookie,
-                                               UartDeviceMap::iterator& iter, size_t requestLen) {
-  ReturnValue_t result = returnvalue::OK;
+ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
+                                             size_t requestLen) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  uint8_t maxReadCycles = uartCookie.getReadCycles();
  uint8_t currentReadCycles = 0;
  int bytesRead = 0;
@ -302,7 +454,7 @@ ReturnValue_t SerialComIF::handleCanonicalRead(SerialCookie& uartCookie,
                          strerror(errno));
 #endif
 #endif
-        return returnvalue::FAILED;
+        return RETURN_FAILED;
      }

    } else if (bytesRead > 0) {
@ -315,8 +467,7 @@ ReturnValue_t SerialComIF::handleCanonicalRead(SerialCookie& uartCookie,
  return result;
 }

-ReturnValue_t SerialComIF::handleNoncanonicalRead(SerialCookie& uartCookie,
-                                                  UartDeviceMap::iterator& iter,
+ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
                                                size_t requestLen) {
  int fd = iter->second.fileDescriptor;
  auto bufferPtr = iter->second.replyBuffer.data();
@ -336,24 +487,25 @@ ReturnValue_t SerialComIF::handleNoncanonicalRead(SerialCookie& uartCookie,
  }
  int bytesRead = read(fd, bufferPtr, requestLen);
  if (bytesRead < 0) {
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  } else if (bytesRead != static_cast<int>(requestLen)) {
    if (uartCookie.isReplySizeFixed()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead << " of "
                   << requestLen << " bytes" << std::endl;
 #endif
-      return returnvalue::FAILED;
+      return RETURN_FAILED;
    }
  }
  iter->second.replyLen = bytesRead;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

-ReturnValue_t SerialComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
+ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
  std::string deviceFile;
+  UartDeviceMapIter uartDeviceMapIter;

-  SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
+  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
  if (uartCookie == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
@ -362,13 +514,13 @@ ReturnValue_t SerialComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffe
  }

  deviceFile = uartCookie->getDeviceFile();
-  auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
  if (uartDeviceMapIter == uartDeviceMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << " not in uart map"
               << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }

  *buffer = uartDeviceMapIter->second.replyBuffer.data();
@ -377,12 +529,13 @@ ReturnValue_t SerialComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffe
  /* Length is reset to 0 to prevent reading the same data twice */
  uartDeviceMapIter->second.replyLen = 0;

-  return returnvalue::OK;
+  return RETURN_OK;
 }

-ReturnValue_t SerialComIF::flushUartRxBuffer(CookieIF* cookie) {
+ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
  std::string deviceFile;
-  SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
+  UartDeviceMapIter uartDeviceMapIter;
+  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
  if (uartCookie == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
@ -390,18 +543,19 @@ ReturnValue_t SerialComIF::flushUartRxBuffer(CookieIF* cookie) {
    return NULLPOINTER;
  }
  deviceFile = uartCookie->getDeviceFile();
-  auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
  if (uartDeviceMapIter != uartDeviceMap.end()) {
    int fd = uartDeviceMapIter->second.fileDescriptor;
    tcflush(fd, TCIFLUSH);
-    return returnvalue::OK;
+    return RETURN_OK;
  }
-  return returnvalue::FAILED;
+  return RETURN_FAILED;
 }

-ReturnValue_t SerialComIF::flushUartTxBuffer(CookieIF* cookie) {
+ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
  std::string deviceFile;
-  SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
+  UartDeviceMapIter uartDeviceMapIter;
+  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
  if (uartCookie == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
@ -409,18 +563,19 @@ ReturnValue_t SerialComIF::flushUartTxBuffer(CookieIF* cookie) {
    return NULLPOINTER;
  }
  deviceFile = uartCookie->getDeviceFile();
-  auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
  if (uartDeviceMapIter != uartDeviceMap.end()) {
    int fd = uartDeviceMapIter->second.fileDescriptor;
    tcflush(fd, TCOFLUSH);
-    return returnvalue::OK;
+    return RETURN_OK;
  }
-  return returnvalue::FAILED;
+  return RETURN_FAILED;
 }

-ReturnValue_t SerialComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
+ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
  std::string deviceFile;
-  SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
+  UartDeviceMapIter uartDeviceMapIter;
+  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
  if (uartCookie == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
@ -428,11 +583,21 @@ ReturnValue_t SerialComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
    return NULLPOINTER;
  }
  deviceFile = uartCookie->getDeviceFile();
-  auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
  if (uartDeviceMapIter != uartDeviceMap.end()) {
    int fd = uartDeviceMapIter->second.fileDescriptor;
    tcflush(fd, TCIOFLUSH);
-    return returnvalue::OK;
+    return RETURN_OK;
+  }
+  return RETURN_FAILED;
+}
+
+void UartComIF::setUartMode(struct termios* options, UartCookie& uartCookie) {
+  UartModes uartMode = uartCookie.getUartMode();
+  if (uartMode == UartModes::NON_CANONICAL) {
+    /* Disable canonical mode */
+    options->c_lflag &= ~ICANON;
+  } else if (uartMode == UartModes::CANONICAL) {
+    options->c_lflag |= ICANON;
  }
-  return returnvalue::FAILED;
 }
--- a/hal/src/fsfw_hal/linux/uart/UartComIF.h
+++ b/hal/src/fsfw_hal/linux/uart/UartComIF.h
@ -3,12 +3,12 @@

 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
 #include <fsfw/objectmanager/SystemObject.h>
-#include <fsfw_hal/linux/serial/SerialCookie.h>
-#include <fsfw_hal/linux/serial/helper.h>

 #include <unordered_map>
 #include <vector>

+#include "UartCookie.h"
+
 /**
 * @brief 	This is the communication interface to access serial ports on linux based operating
 *          systems.
@ -18,17 +18,20 @@
 *
 * @author 	J. Meier
 */
-class SerialComIF : public DeviceCommunicationIF, public SystemObject {
+class UartComIF : public DeviceCommunicationIF, public SystemObject {
 public:
  static constexpr uint8_t uartRetvalId = CLASS_ID::HAL_UART;

-  static constexpr ReturnValue_t UART_READ_FAILURE = returnvalue::makeCode(uartRetvalId, 1);
-  static constexpr ReturnValue_t UART_READ_SIZE_MISSMATCH = returnvalue::makeCode(uartRetvalId, 2);
-  static constexpr ReturnValue_t UART_RX_BUFFER_TOO_SMALL = returnvalue::makeCode(uartRetvalId, 3);
+  static constexpr ReturnValue_t UART_READ_FAILURE =
+      HasReturnvaluesIF::makeReturnCode(uartRetvalId, 1);
+  static constexpr ReturnValue_t UART_READ_SIZE_MISSMATCH =
+      HasReturnvaluesIF::makeReturnCode(uartRetvalId, 2);
+  static constexpr ReturnValue_t UART_RX_BUFFER_TOO_SMALL =
+      HasReturnvaluesIF::makeReturnCode(uartRetvalId, 3);

-  SerialComIF(object_id_t objectId);
+  UartComIF(object_id_t objectId);

-  virtual ~SerialComIF();
+  virtual ~UartComIF();

  ReturnValue_t initializeInterface(CookieIF* cookie) override;
  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
@ -62,6 +65,7 @@ class SerialComIF : public DeviceCommunicationIF, public SystemObject {
  };

  using UartDeviceMap = std::unordered_map<UartDeviceFile_t, UartElements>;
+  using UartDeviceMapIter = UartDeviceMap::iterator;

  /**
   * The uart devie map stores informations of initialized uart ports.
@ -75,9 +79,20 @@ class SerialComIF : public DeviceCommunicationIF, public SystemObject {
   *                      uart device file, baudrate, parity, stopbits etc.
   * @return  The file descriptor of the configured uart.
   */
-  int configureUartPort(SerialCookie* uartCookie);
+  int configureUartPort(UartCookie* uartCookie);

-  void setStopBitOptions(struct termios* options, SerialCookie* uartCookie);
+  /**
+   * @brief   This function adds the parity settings to the termios options struct.
+   *
+   * @param options   Pointer to termios options struct which will be modified to enable or disable
+   *                  parity checking.
+   * @param uartCookie    Pointer to uart cookie containing the information about the desired
+   *                      parity settings.
+   *
+   */
+  void setParityOptions(struct termios* options, UartCookie* uartCookie);
+
+  void setStopBitOptions(struct termios* options, UartCookie* uartCookie);

  /**
   * @brief   This function sets options which are not configurable by the uartCookie.
@ -87,11 +102,19 @@ class SerialComIF : public DeviceCommunicationIF, public SystemObject {
  /**
   * @brief   With this function the datasize settings are added to the termios options struct.
   */
-  void setDatasizeOptions(struct termios* options, SerialCookie* uartCookie);
+  void setDatasizeOptions(struct termios* options, UartCookie* uartCookie);

-  ReturnValue_t handleCanonicalRead(SerialCookie& uartCookie, UartDeviceMap::iterator& iter,
+  /**
+   * @brief   This functions adds the  baudrate specified in the uartCookie to the termios options
+   *          struct.
+   */
+  void configureBaudrate(struct termios* options, UartCookie* uartCookie);
+
+  void setUartMode(struct termios* options, UartCookie& uartCookie);
+
+  ReturnValue_t handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
                                    size_t requestLen);
-  ReturnValue_t handleNoncanonicalRead(SerialCookie& uartCookie, UartDeviceMap::iterator& iter,
+  ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
                                       size_t requestLen);
 };

--- a/hal/src/fsfw_hal/linux/uart/UartCookie.cpp
+++ b/hal/src/fsfw_hal/linux/uart/UartCookie.cpp
@ -0,0 +1,51 @@
+#include "UartCookie.h"
+
+#include <fsfw/serviceinterface.h>
+
+UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
+                       size_t maxReplyLen, UartModes uartMode)
+    : handlerId(handlerId),
+      deviceFile(deviceFile),
+      uartMode(uartMode),
+      baudrate(baudrate),
+      maxReplyLen(maxReplyLen) {}
+
+UartCookie::~UartCookie() {}
+
+UartBaudRate UartCookie::getBaudrate() const { return baudrate; }
+
+size_t UartCookie::getMaxReplyLen() const { return maxReplyLen; }
+
+std::string UartCookie::getDeviceFile() const { return deviceFile; }
+
+void UartCookie::setParityOdd() { parity = Parity::ODD; }
+
+void UartCookie::setParityEven() { parity = Parity::EVEN; }
+
+Parity UartCookie::getParity() const { return parity; }
+
+void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
+
+BitsPerWord UartCookie::getBitsPerWord() const { return bitsPerWord; }
+
+StopBits UartCookie::getStopBits() const { return stopBits; }
+
+void UartCookie::setTwoStopBits() { stopBits = StopBits::TWO_STOP_BITS; }
+
+void UartCookie::setOneStopBit() { stopBits = StopBits::ONE_STOP_BIT; }
+
+UartModes UartCookie::getUartMode() const { return uartMode; }
+
+void UartCookie::setReadCycles(uint8_t readCycles) { this->readCycles = readCycles; }
+
+void UartCookie::setToFlushInput(bool enable) { this->flushInput = enable; }
+
+uint8_t UartCookie::getReadCycles() const { return readCycles; }
+
+bool UartCookie::getInputShouldBeFlushed() { return this->flushInput; }
+
+object_id_t UartCookie::getHandlerId() const { return this->handlerId; }
+
+void UartCookie::setNoFixedSizeReply() { replySizeFixed = false; }
+
+bool UartCookie::isReplySizeFixed() { return replySizeFixed; }
--- a/hal/src/fsfw_hal/linux/uart/UartCookie.h
+++ b/hal/src/fsfw_hal/linux/uart/UartCookie.h
@ -3,10 +3,50 @@

 #include <fsfw/devicehandlers/CookieIF.h>
 #include <fsfw/objectmanager/SystemObjectIF.h>
-#include <fsfw_hal/linux/serial/helper.h>

 #include <string>

+enum class Parity { NONE, EVEN, ODD };
+
+enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
+
+enum class UartModes { CANONICAL, NON_CANONICAL };
+
+enum class BitsPerWord { BITS_5, BITS_6, BITS_7, BITS_8 };
+
+enum class UartBaudRate {
+  RATE_50,
+  RATE_75,
+  RATE_110,
+  RATE_134,
+  RATE_150,
+  RATE_200,
+  RATE_300,
+  RATE_600,
+  RATE_1200,
+  RATE_1800,
+  RATE_2400,
+  RATE_4800,
+  RATE_9600,
+  RATE_19200,
+  RATE_38400,
+  RATE_57600,
+  RATE_115200,
+  RATE_230400,
+  RATE_460800,
+  RATE_500000,
+  RATE_576000,
+  RATE_921600,
+  RATE_1000000,
+  RATE_1152000,
+  RATE_1500000,
+  RATE_2000000,
+  RATE_2500000,
+  RATE_3000000,
+  RATE_3500000,
+  RATE_4000000
+};
+
 /**
 * @brief   Cookie for the UartComIF. There are many options available to configure the UART driver.
 *          The constructor only requests for common options like the baudrate. Other options can
@ -14,7 +54,7 @@
 *
 * @author 	J. Meier
 */
-class SerialCookie : public CookieIF {
+class UartCookie : public CookieIF {
 public:
  /**
   * @brief	Constructor for the uart cookie.
@ -29,10 +69,10 @@ class SerialCookie : public CookieIF {
   *                        8 databits (number of bits transfered with one uart frame)
   *                        One stop bit
   */
-  SerialCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
+  UartCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
             size_t maxReplyLen, UartModes uartMode = UartModes::NON_CANONICAL);

-  virtual ~SerialCookie();
+  virtual ~UartCookie();

  UartBaudRate getBaudrate() const;
  size_t getMaxReplyLen() const;
--- a/hal/src/fsfw_hal/linux/uio/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/uio/CMakeLists.txt
@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+	UioMapper.cpp
+)
--- a/hal/src/fsfw_hal/linux/uio/UioMapper.cpp
+++ b/hal/src/fsfw_hal/linux/uio/UioMapper.cpp
@ -1,7 +1,6 @@
 #include "UioMapper.h"

 #include <fcntl.h>
-#include <sys/stat.h>
 #include <unistd.h>

 #include <filesystem>
@ -14,38 +13,22 @@ const char UioMapper::UIO_PATH_PREFIX[] = "/sys/class/uio/";
 const char UioMapper::MAP_SUBSTR[] = "/maps/map";
 const char UioMapper::SIZE_FILE_PATH[] = "/size";

-UioMapper::UioMapper(std::string uioFile, int mapNum) : mapNum(mapNum) {
-  struct stat buf;
-  lstat(uioFile.c_str(), &buf);
-  if (S_ISLNK(buf.st_mode)) {
-    char* res = realpath(uioFile.c_str(), nullptr);
-    if (res) {
-      this->uioFile = res;
-      free(res);
-    } else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "Could not resolve real path of UIO file " << uioFile << std::endl;
-#endif
-    }
-  } else {
-    this->uioFile = std::move(uioFile);
-  }
-}
+UioMapper::UioMapper(std::string uioFile, int mapNum) : uioFile(uioFile), mapNum(mapNum) {}

 UioMapper::~UioMapper() {}

 ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permissions) {
-  ReturnValue_t result = returnvalue::OK;
-  int fd = open(uioFile.c_str(), O_RDWR | O_SYNC);
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  int fd = open(uioFile.c_str(), O_RDWR);
  if (fd < 1) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "UioMapper::getMappedAdress: Invalid UIO device file " << uioFile << std::endl;
+    sif::error << "PtmeAxiConfig::initialize: Invalid UIO device file" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  size_t size = 0;
  result = getMapSize(&size);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }
  *address = static_cast<uint32_t*>(
@ -56,9 +39,9 @@ ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permiss
    sif::error << "UioMapper::getMappedAdress: Failed to map physical address of uio device "
               << uioFile.c_str() << " and map" << static_cast<int>(mapNum) << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t UioMapper::getMapSize(size_t* size) {
@ -71,7 +54,7 @@ ReturnValue_t UioMapper::getMapSize(size_t* size) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "UioMapper::getMapSize: Failed to open file " << namestream.str() << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  char hexstring[SIZE_HEX_STRING] = "";
  int items = fscanf(fp, "%s", hexstring);
@ -83,7 +66,7 @@ ReturnValue_t UioMapper::getMapSize(size_t* size) {
               << namestream.str() << std::endl;
 #endif
    fclose(fp);
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  uint32_t sizeTmp = 0;
  items = sscanf(hexstring, "%x", &sizeTmp);
@ -96,8 +79,8 @@ ReturnValue_t UioMapper::getMapSize(size_t* size) {
               << "size of map" << mapNum << " to integer" << std::endl;
 #endif
    fclose(fp);
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  fclose(fp);
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
--- a/hal/src/fsfw_hal/linux/uio/UioMapper.h
+++ b/hal/src/fsfw_hal/linux/uio/UioMapper.h
@ -5,7 +5,7 @@

 #include <string>

-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"

 /**
 * @brief   Class to help opening uio device files and mapping the physical addresses into the user
--- a/hal/src/fsfw_hal/linux/utility.cpp
+++ b/hal/src/fsfw_hal/linux/utility.cpp
--- a/hal/src/fsfw_hal/linux/utility.h
+++ b/hal/src/fsfw_hal/linux/utility.h
--- a/hal/src/fsfw_hal/stm32h7/CMakeLists.txt
+++ b/hal/src/fsfw_hal/stm32h7/CMakeLists.txt
@ -2,4 +2,6 @@ add_subdirectory(spi)
 add_subdirectory(gpio)
 add_subdirectory(devicetest)

-target_sources(${LIB_FSFW_NAME} PRIVATE dma.cpp)
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    dma.cpp
+)
--- a/hal/src/fsfw_hal/stm32h7/definitions.h
+++ b/hal/src/fsfw_hal/stm32h7/definitions.h
--- a/hal/src/fsfw_hal/stm32h7/devicetest/CMakeLists.txt
+++ b/hal/src/fsfw_hal/stm32h7/devicetest/CMakeLists.txt
@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    GyroL3GD20H.cpp
+)
--- a/hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.cpp
+++ b/hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.cpp
@ -84,7 +84,7 @@ ReturnValue_t GyroL3GD20H::initialize() {
  spiHandle->Init.Mode = SPI_MODE_MASTER;
  if (HAL_SPI_Init(spiHandle) != HAL_OK) {
    sif::printWarning("Error initializing SPI\n");
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }

  delete mspCfg;
@ -106,11 +106,11 @@ ReturnValue_t GyroL3GD20H::initialize() {
      return handlePollingTransferInit();
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroL3GD20H::performOperation() {
@ -125,10 +125,10 @@ ReturnValue_t GyroL3GD20H::performOperation() {
      return handleInterruptSensorRead();
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
@ -162,10 +162,10 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
    case (TransferStates::FAILURE): {
      sif::printWarning("Transfer failure\n");
      transferState = TransferStates::FAILURE;
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

@ -194,10 +194,10 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
    case (TransferStates::FAILURE): {
      sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
      transferState = TransferStates::FAILURE;
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

@ -228,13 +228,13 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
    case (TransferStates::FAILURE): {
      sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
      transferState = TransferStates::FAILURE;
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
@ -259,13 +259,13 @@ ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
    case (TransferStates::FAILURE): {
      sif::printWarning("GyroL3GD20H::handleDmaSensorRead: Sensor read failure\n");
      transferState = TransferStates::FAILURE;
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 HAL_StatusTypeDef GyroL3GD20H::performDmaTransfer(size_t sendSize) {
@ -298,14 +298,14 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
    }
    case (HAL_TIMEOUT): {
      sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    case (HAL_ERROR): {
      sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

@ -323,14 +323,14 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
    }
    case (HAL_TIMEOUT): {
      sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    case (HAL_ERROR): {
      sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

@ -353,17 +353,17 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
    }
    case (HAL_TIMEOUT): {
      sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    case (HAL_ERROR): {
      sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroL3GD20H::handlePollingSensorRead() {
@ -380,17 +380,17 @@ ReturnValue_t GyroL3GD20H::handlePollingSensorRead() {
    }
    case (HAL_TIMEOUT): {
      sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    case (HAL_ERROR): {
      sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
@ -416,7 +416,7 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
    case (HAL_ERROR):
    case (HAL_TIMEOUT): {
      sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

@ -438,7 +438,7 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
    case (HAL_ERROR):
    case (HAL_TIMEOUT): {
      sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

@ -465,10 +465,10 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
    case (HAL_ERROR):
    case (HAL_TIMEOUT): {
      sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
@ -489,10 +489,10 @@ ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
    case (HAL_ERROR):
    case (HAL_TIMEOUT): {
      sif::printDebug("GyroL3GD20H::initialize: Sensor read failure using interrupts\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 void GyroL3GD20H::prepareConfigRegs(uint8_t *configRegs) {
--- a/hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h
+++ b/hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h
@ -6,14 +6,10 @@

 #include "../spi/mspInit.h"
 #include "../spi/spiDefinitions.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_spi.h"

-#ifndef STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION
-#define STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION 1
-#endif
-
 enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };

 class GyroL3GD20H {
--- a/hal/src/fsfw_hal/stm32h7/dma.cpp
+++ b/hal/src/fsfw_hal/stm32h7/dma.cpp
--- a/hal/src/fsfw_hal/stm32h7/dma.h
+++ b/hal/src/fsfw_hal/stm32h7/dma.h
--- a/hal/src/fsfw_hal/stm32h7/gpio/CMakeLists.txt
+++ b/hal/src/fsfw_hal/stm32h7/gpio/CMakeLists.txt
@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    gpio.cpp
+)
--- a/hal/src/fsfw_hal/stm32h7/gpio/gpio.cpp
+++ b/hal/src/fsfw_hal/stm32h7/gpio/gpio.cpp
--- a/hal/src/fsfw_hal/stm32h7/gpio/gpio.h
+++ b/hal/src/fsfw_hal/stm32h7/gpio/gpio.h
--- a/hal/src/fsfw_hal/stm32h7/i2c/CMakeLists.txt
+++ b/hal/src/fsfw_hal/stm32h7/i2c/CMakeLists.txt
@ -0,0 +1,2 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+)
--- a/Show More
+++ b/Show More